Results 131 to 140 of about 1,356 (178)

Terrain adaptive odometry for mobile skid-steer robots

2013 IEEE International Conference on Robotics and Automation, 2013
This 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, Vladimir Kubelka, Karel Zimmermann   +2 more
openaire   +1 more source

Practical stabilization of 4WD skid-steering mobile robot

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891), 2004
This 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, Krzysztof Kozlowski, Marek Lawniczak   +2 more
openaire   +1 more source

Experimental kinematics for wheeled skid-steer mobile robots

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007
This 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, Jorge L. Martínez, Jesús Morales, José-Luis Blanco, Alfonso García-Cerezo, Javier Gonzalez 0001   +5 more
openaire   +1 more source

Skid steering mobile robot modeling and control

2014 UKACC International Conference on Control (CONTROL), 2014
In 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, Ahmed Abo-Ismail, Hossam S. Abbas, Zakarya Zyada   +3 more
openaire   +1 more source

Mathematical Model of the Skid-Steered Mobile Robot

IFAC Proceedings Volumes, 2000
Abstract 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, Luděk Žalud, Bohumil Honzík   +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

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

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