Results 141 to 150 of about 1,700 (191)
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Power Characterization of a Skid-Steered Mobile Field Robot
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2016In this paper we study the power characterization of a skid-steered mobile robot operating both indoors and outdoors, taking the 3D elevation of the environment also into account. We show that the power equation of a driving DC motor together with the force model on an arbitrary terrain can be used to estimate the power consumption as well as the ...
Sedat Dogru, Lino Marques
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Effective design choices for skid-steering robotic vehicles
SPIE Proceedings, 2004One of the major problems with any robotic vehicle is inefficient use of available power. This research explores in detail the locomotion, power dynamics and performance of a skid steered robotic vehicle and develops techniques to derive efficient design parameters of the vehicle in order to achieve optimal performance by minimizing the power losses ...
Aakash K. Sinha, Mark Rosenblum
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Simultaneous localization and map building of skid-steered robots
IEEE Robotics & Automation Magazine, 2007In this article, an alternative scheme is proposed for the SLAM problem, where the state vector holds only the robot pose and the map is feature-based in the form of line segments. It is a lighter representation in comparison to occupancy grids and point maps, something necessary as large scale environments are addressed.
Georgia Anousaki +1 more
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Terrain adaptive odometry for mobile skid-steer robots
2013 IEEE International Conference on Robotics and Automation, 2013This paper proposes a novel approach to improving precision and reliability of odometry of skid-steer mobile robots by means inspired by robotic terrain classification (RTC). In contrary to standard RTC approaches we do not provide human labeled discrete terrain categories but we classify the terrain directly by the values of coefficients correcting ...
Michal Reinstein +2 more
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Practical stabilization of 4WD skid-steering mobile robot
Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891), 2004This paper presents an algorithm based on kinematic oscillator which is used to control four wheel skid-steering mobile robot (4WD SSMR). This proposition is an extension of the original kinematic controller proposed by W.E. Dixon et al. (2001) and it allows to ensure practical stabilization (see works done by P. Morin and C.
Dariusz Pazderski +2 more
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Loads analysis of skid steer robot drive system
2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR), 2013This paper presents the results of 3 tons skid steer 6×6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drive train design and forces identification in the drivetrain system during maneuvering and crossing obstacles.
Marian Janusz Lopatka +2 more
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Experimental kinematics for wheeled skid-steer mobile robots
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the complexity of dynamics computations in the loop. This traction scheme is found both in many off-the-shelf mobile robots due to its mechanical simplicity and in outdoor applications ...
Anthony Mandow +5 more
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Skid steering mobile robot modeling and control
2014 UKACC International Conference on Control (CONTROL), 2014In this paper, a reduced order model of dynamic and drive models augmentation of a skid steering mobile robot is presented. Moreover, a Linear Quadratic Regulator (LQR) controller augmented with a feed-forward part is designed for controlling this reduced order model.
Osama Elshazly +3 more
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Mathematical Model of the Skid-Steered Mobile Robot
IFAC Proceedings Volumes, 2000Abstract The article describes mathematical model of the skid-steered mobile robot (SSMR), which was designed at the DCMI. SSMR is an indoor/outdoor autonomous/remotely controlled vehicle intended for research purposes in the area of developing a combination of autonomous and remote control schemes for mobile robots with application of telepresence ...
František Šole +2 more
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Motor control of skid steered robotic vehicle
2017 19th International Conference on Electrical Drives and Power Electronics (EDPE), 2017This paper deals with control system of skid steered robotic vehicle. Skid steering offers very simple way to achieve good traction on rough terrain. On the other hand it is difficult to precisely control the speed and the position of the vehicle. The presented solution uses modern approaches to control drives of the robotic vehicle such as visual ...
Robert Uveges, Frantisek Durovsky
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