Results 1 to 10 of about 1,337 (159)
Infrastructure-Aided Localization and State Estimation for Autonomous Mobile Robots [PDF]
Robotics, 2022 A slip-aware localization framework is proposed for mobile robots experiencing wheel slip in dynamic environments. The framework fuses infrastructure-aided visual tracking data (via fisheye lenses) and proprioceptive sensory data from a skid-steer mobile
Daniel Flögel +2 more
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Energies, 2021 A detailed literature analysis depicts that artificial neural networks are rarely used for the power consumption estimation in the mobile robotics field. Instead, researchers prefer to develop analytical models of investigated robots.
Krystian Góra +3 more
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Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness
Mechanical Engineering Journal, 2015 This paper presents an adaptive controller for a position tracking problem of a skid-steer mobile robot. First, a non-adaptive control law is designed by the backstepping method, where the reference signals are generated by a non-holonomically ...
Makoto YOKOYAMA +2 more
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IEEE Access, 2017 Four-wheel independently driven skid-steered mobile robots are widely used in the fields of industrial automation and outdoor exploration. In most of existing controllers of skid-steered mobile robots, the wheel velocities are controlled independently to
Jianfeng Liao, Zheng Chen, Bin Yao
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RoboticsSkid-steer mobile robots (SSMRs) are ubiquitous in indoor and outdoor applications. Their accurate trajectory tracking control is quite challenging due to the uncertainties arising from the complex behavior of frictional force, external disturbances, and
Mulugeta Debebe Teji +2 more
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Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments. [PDF]
Sensors (Basel), 2018 Recent developments in localisation systems for autonomous robotic technology have been a driving factor in the deployment of robots in a wide variety of environments.
McLoughlin BJ +4 more
europepmc +3 more sources
Applied Sciences, 2023 In this study, we address the trajectory tracking control problem of a hydraulic-driven skid-steer mobile robot. A hierarchical control strategy is proposed to simultaneously consider the robot’s position control and the velocity control of the hydraulic
Jian Wang +5 more
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Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
IEEE Access, 2023 The instantaneous centers of rotation (ICRs) for the two treads of skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain with constant local coordinates, which allows to establish an equivalence with differential-drive ...
Jorge L. Martinez +3 more
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Deep Reinforcement Learning for Autonomous Dynamic Skid Steer Vehicle Trajectory Tracking
Robotics, 2022 Designing controllers for skid-steered wheeled robots is complex due to the interaction of the tires with the ground and wheel slip due to the skid-steer driving mechanism, leading to nonlinear dynamics.
Sandeep Srikonda +3 more
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Mathematics, 2023 Tracked mobile robots can overcome the limitations of wheeled and legged robots in environments, such as construction and mining, but there are still significant challenges to be addressed in terms of trajectory tracking.
Haneul Jeon, Donghun Lee
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