Results 151 to 160 of about 1,700 (191)

Skid Steering of Robotic Vehicle for Autonomous Applications

2019 International Conference on Electrical Drives & Power Electronics (EDPE), 2019
The paper deals with principles of motion control of skid steered robotic vehicle. The proposed control of drives allows the vehicle to move on uneven terrain with different surface or inclination of the vehicle. Control was checked on physical model of robotic vehicle.
Robert Dveges, Frantisek Durovsky, Viliam Fedak   +2 more
openaire   +1 more source

Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots

Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered wheeled mobile robot. Kinematic and dynamic modeling of the robot is first presented.
Jingang Yi, Dezhen Song, Junjie Zhang, Zane Goodwin   +3 more
openaire   +1 more source

Controller Design for a Skid-Steered Robot and Mapping for Surveillance Applications

Proceedings of the Advances in Robotics, 2017
Skid-steered robots, with their robust structure and manoeuvrability, are generally used as outdoor mobile robots. Both kinematic and dynamic modelling of these robots is difficult due to sliding and rolling inherent in general curvilinear motion. In order to improve motion and pose estimation, this paper proposes a kinematic and dynamic model for skid-
Narra Sai Krishna, Anand George, Arlene John, A. P. Sudheer 0001   +3 more
openaire   +1 more source

A robust slip estimation method for skid-steered mobile robots

2008 10th International Conference on Control, Automation, Robotics and Vision, 2008
This paper presents a robust slip estimation method for skid-steered mobile robots when they traverse over rough terrain. An optical flow-based visual sensor looking down the terrain surface is employed to recover motion of a mobile robot by tracking features selected from the terrain surface.
Xiaojing Song, Lakmal D. Seneviratne, Kaspar Althoefer, Zibin Song   +3 more
openaire   +1 more source

Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)

Journal of Intelligent & Robotic Systems, 2018
A discontinuous stabilizing control of Skid-Steering Mobile Robot (SSMR) is proposed using σ transformation introduced in Astolfi (Syst. Control Lett. 27(1), 37–45, 1996). A linear time-invariant system (LTI) is obtained which is driven by state-dependent disturbance. A linear H∞ controller is designed to reduce the effect of this disturbance.
Fady Ibrahim, A. A. Abouelsoud, Ahmed M. R. Fath El-Bab, Tetsuya Ogata   +3 more
openaire   +1 more source

Power modeling of a skid steered wheeled robotic ground vehicle

2009 IEEE International Conference on Robotics and Automation, 2009
Analysis of the power consumption of a robotic ground vehicle (RGV) is important for planning since it enables motion plans that do not violate the power limitations of the motors, energy efficient path planning, prediction of the ability to complete a task based upon the vehicle's current energy supply, and estimation of when the vehicle will need to ...
Oscar Chuy, Emmanuel G. Collins Jr., Wei Yu, Camilo Ordonez   +3 more
openaire   +1 more source

LSTM network in bilateral teleoperation of a skid-steering robot

Neurocomputing
Fil: Chicaiza Claudio, Fernando Alfonso. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería.
Emanuel Slawiñski, Francisco G. Rossomando, Fernando A. Chicaiza, Javier Moreno-Valenzuela, Vicente A. Mut   +4 more
openaire   +2 more sources

Optimized control of skid steering mobile robot with slip conditions

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015
Application of different optimization techniques for nonlinear controller parameters of a skid steering mobile robot (SSMR) with its inherited slip characteristics is crucial in saving designer's time and effort. In this paper, two computational optimization techniques, particle swarm optimization (PSO) and genetic algorithms (GA), are applied ...
Osama Elshazly, Zakarya Zyada, Abdelfatah M. Mohamed, Giovanni Muscato   +3 more
openaire   +1 more source

Modeling and motion stability analysis of skid-steered mobile robots

2009 IEEE International Conference on Robotics and Automation, 2009
Skid-steered mobile robots are widely used because of the simplicity of mechanism and high reliability. However, understanding of the kinematics and dynamics of such a robotic platform is challenging due to the complex wheel/ground interactions and kinematic constraints.
Hongpeng Wang, Junjie Zhang, Jingang Yi, Dezhen Song, Suhada Jayasuriya, Jingtai Liu   +5 more
openaire   +1 more source

Posture stabilization of Skid Steer Wheeled Mobile Robots

2010 IEEE Conference on Robotics, Automation and Mechatronics, 2010
This paper represents the posture stabilization of a Skid Steer Wheeled Mobile Robot (SSWMR). Although, in mobile robots lateral skidding of the wheels occurs when turning at high speed, wheels of a SSWMR laterally skid in every rotational maneuver even for low speeds yielded the non-skidding nonholonomic constraint to be violated.
E. Mohammadpour, M. Naraghi, M. Gudarzi
openaire   +1 more source