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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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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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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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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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Slip Prediction of Skid-Steer Mobile Robots in Manufacturing Environments
Volume 5A: 41st Mechanisms and Robotics Conference, 2017Skid steer mobile robots (SSMR) are platforms with simplistic mechanical drives readily adapted for a variety of applications. Skid Steer robots require slipping when navigating general paths. This slipping behavior is a function of surface conditions (friction) as well as robot motion and forces (system dynamics).
Stephen G. Zuccaro +2 more
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Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles
Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 2002Addresses a problem of time-optimal motion planning of skid-steer mobile robots amidst obstacles. Due to nonholonomic constraints, actuator constraints, and state constraints by obstacle avoidance, the planning problem is a complicated one. In this study, the problem is divided into two sub-problems: (1) time-optimization of trajectory along specified ...
Motoji Yamamoto +2 more
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