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Power Analysis for a Skid-Steered Tracked Mobile Robot
2006 IEEE International Conference on Mechatronics, 2006Power consumption is a key element in mobile robot autonomy. This issue is more critical in tracked vehicles than in wheeled vehicles on account of relevant energy losses due to soil-track friction. This paper analyzes power efficiency in tracked mobile robots both from theoretical and experimental points of view.
Jesus Morales +5 more
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Comprehensive study of skid-steer wheeled mobile robots: development and challenges
Industrial Robot: the international journal of robotics research and application, 2020Purpose The purpose of this paper is to provide a comprehensive and unified presentation of recent developments in skid-steer wheeled mobile robots (SSWMR) with regard to its control, guidance and navigation for the researchers who wish to study in this field.
Rameez Khan +3 more
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Motion control and stabilization of a Skid-Steering Mobile Robot
2009 2nd International Conference on Adaptive Science & Technology (ICAST), 2009In this paper, motion control and stabilization of a 4-Wheel Skid-Steering Mobile Robot (4WSSMR) are studied. A ratio controller which has been successfully applied in the chemical industry is designed to limit the vehicle lateral skid. Motion stability is guaranteed by generating an appropriate steering action (driving bias in left and right wheels ...
Chunling Tu +3 more
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Implementation of a leader-follower controller for a skid-steering wheel-legged robot
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC), 2016In this paper, we present a leader-follower controller for the Micro-Hydraulic Toolkit (MHT), a skid-steering wheel-legged robot designed by Defence Research and Development Canada - Suffield Research Centre. The objective of the controller is to maneuver the MHT towards a desired position with respect to a designated leader.
Luc Xuan Tu Phung +2 more
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A Physics-Based Power Model for Skid-Steered Wheeled Mobile Robots
IEEE Transactions on Robotics, 2018The power consumed by skid-steered mobile robots varies enormously depending on their operating regimes and environments. Therefore, energy optimal planning of field missions can be accomplished only if the operating environment and an accurate model of the robot's power consumption are known in advance. This paper studies influences of location of the
Sedat Dogru, Lino Marques
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Genetic nonlinear controller of a skid steering mobile robot with slip conditions
2014 IEEE International Conference on Automation, Quality and Testing, Robotics, 2014In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness.
Osama Elshazly +2 more
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A Friction-Based Kinematic Model for Skid-Steer Wheeled Mobile Robots
2019 International Conference on Robotics and Automation (ICRA), 2019Skid-steer drive systems are widely used in mobile robot platforms. Such systems are subject to significant slippage and skidding during normal operation due to their nature. The ability to predict and compensate for such slippages in the forward kinematics of these types of robots is of great importance and provides the means for accurate control and ...
Sadegh Rabiee, Joydeep Biswas
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IMU-based localization and slip estimation for skid-steered mobile robots
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007Localization and wheel slip estimation of a skid- steered mobile robot is challenging because of the complex wheel/ground interactions and kinematics constraints. In this paper, we present a localization and slip estimation scheme for a skid-steered mobile robot using low-cost inertial measurement units (IMU).
Jingang Yi +3 more
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Experimental kinematics modeling estimation for wheeled skid-steering mobile robots
2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013Skid-steering mobile robots, both wheels and tracked vehicles, are widely used because of their simple mechanism and robust. However, due to the complex wheel-ground interactions and the kinematics constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform.
Yao Wu +6 more
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2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR), 2018
This paper proposes an approach for the motion planning of a constrained skid-steered tracked mobile robot under the hypothesis of non-negligible skid and slip phenomena. Operating environment is firstly discretized with a finite dimensional grid. Then, a weighted graph is defined whose nodes are the above mentioned grid points, and whose arcs denote ...
Vito Antonio Nardi +2 more
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This paper proposes an approach for the motion planning of a constrained skid-steered tracked mobile robot under the hypothesis of non-negligible skid and slip phenomena. Operating environment is firstly discretized with a finite dimensional grid. Then, a weighted graph is defined whose nodes are the above mentioned grid points, and whose arcs denote ...
Vito Antonio Nardi +2 more
openaire +1 more source