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An integrated testbed for cooperative perception with heterogeneous mobile and static sensors. [PDF]
Sensors (Basel), 2011 Jiménez-González A +2 more
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Optimizing the Steering of Driverless Personal Mobility Pods with a Novel Differential Harris Hawks Optimization Algorithm (DHHO) and Encoder Modeling. [PDF]
Sensors (Basel)Reda M, Onsy A, Haikal AY, Ghanbari A.
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Possible Control Methods for Skid-Steer Mobile Robot Platforms
2020 2nd IEEE International Conference on Gridding and Polytope Based Modelling and Control (GPMC), 2020The aim of this paper is to collect and analyze the possible low-level control methods for skid-steer mobile robot platforms. Most low-level control methods for mobile robots rely on the kinematic or dynamic model of the controlled robot platform. However, in case of skid-steer mobile robots, a precise kinematic or dynamic model might be too costly to ...
Rudolf Krecht +2 more
exaly +2 more sources
Posture stabilization of Skid Steer Wheeled Mobile Robots
2010 IEEE Conference on Robotics, Automation and Mechatronics, 2010This 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
exaly +2 more sources
Power Consumption Modeling of Skid-Steer Tracked Mobile Robots on Rigid Terrain
IEEE Transactions on Robotics, 2009Power consumption is a key element in outdoor mobile robot autonomy. This issue is very relevant in skid-steer tracked vehicles on account of their large ground contact area. In this paper, the power losses due to dynamic friction have been modeled from two different perspectives: 1) the power drawn by the rigid terrain and 2) the power supplied by the
Jesus Morales +2 more
exaly +2 more sources
Sliding mode fuzzy control of a skid steer mobile robot for path following
2008 10th International Conference on Control, Automation, Robotics and Vision, 2008In this paper, robust sliding mode fuzzy logic control of a four-wheel differentially driven skid steer mobile robot, for path following is considered. This approach combines basic principles of sliding mode control (SMC) with fuzzy logic control (FLC). The path comprises a sequence of discrete waypoints.
Vahid Nazari, Mahyar Naraghi
exaly +2 more sources
Hierarchical control in skid steer mobile robots with nonholonomics constraints
2023 31st Mediterranean Conference on Control and Automation (MED), 2023Vivian SuzanO Medeiros +1 more
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Robust recursive control of a skid-steering mobile robot
2013 16th International Conference on Advanced Robotics (ICAR), 2013This paper is concerned with the robust control of a skid-steering mobile robot (SSMR). A robust recursive controller for linear state-space systems subject to parametric uncertainties is considered to deal with the SSMR tracking problem. Simulation results of the application of this regulator using the dynamic model equations of a SSMR shows the ...
Roberto Santos Inoue +3 more
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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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