Abstract
This paper describes a method of driving force distribution for independent wheel drive vehicles on irregular ground. The optimal driving force distribution improves the off-road vehicle traveling performance. The driving force distribution of four drive wheels based on the wheel vertical load and slip ratio was proposed. Straight-traveling tests on uneven rigid ground and soft ground were carried out by a model vehicle in order to examine the proposed method. The results of proposed method were compared with the ones of the distribution based on the only wheel vertical load, the even distribution, and the wheel velocity control. As the results, it was confirmed that the proposed method was the most stable and efficient on uneven rigid ground for vehicle movement. The proposed method was the most stable and as efficient as the wheel velocity control on uneven soft ground.
