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Trajectory Tracking and Stair Climbing Capability Assessment for a Skid-Steered Mobile Robot
2007 American Control Conference, 2007This paper presents derivation of a trajectory tracking and stair climbing stabilization controller for a 4-wheel driven skid-steered wheeled mobile robot (SSWR). The robot vehicle is modeled with six degrees of freedom (6DOF) rigid body equations which are later simplified for planar and pitched movement.
Chandrakanth R. Terupally +2 more
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Trajectory Estimation of a Skid-Steering Mobile Robot Incorporating Free Wheels
2010This paper proposes a trajectory estimation method for a skid-steering mobile robot (SSMR) incorporating free wheels on uneven but smooth ground with different ground properties and distributed loads on wheel axes. We formulate a mathematical expression in terms of virtual work for evaluating the energy cost of all the wheel motions with skidding and ...
Tokuji Okada +2 more
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Outdoor person following at higher speeds using a skid-steered mobile robot
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017A new navigation system for outdoor person following at higher speeds (maximum speed ≈2.5 m/s) is proposed. A combination of global and local path planning, and path following control, allows a robot to follow a jogger in various outdoor scenarios, including highly dynamical environments with pedestrians.
Goran Huskic +3 more
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Trajectory tracking for skid-steering mobile robots using sliding-mode control
2015 10th Asian Control Conference (ASCC), 2015In this paper, we tackle the problem of trajectory tracking for Skid-Steering mobile robots. Two strategies of kinematic modeling of the Skid-Steering mobile robot are considered. The controllers are designed based on Sliding Mode scheme to asymptotically stabilize the tracking errors in surge, sway and heading for different reference trajectories. The
Muhammed Alhelou +2 more
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Speed and point-to-point control for trajectory tracking of a Skid-Steered Mobile Robot
11th IEEE International Conference on Control & Automation (ICCA), 2014This paper presents the development of a motion control scheme of a Skid-Steered Mobile Robot (SSMR). The System Architecture used in this work consists in four systems: Trajectory Tracking, Point-to-Point Control, Speed Control and Pose Estimation. These four systems work together to perform autonomous navigation.
Marissa G. Campa +2 more
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Indoor Localization for Skid-Steering Mobile Robot by Fusing Encoder, Gyroscope, and Magnetometer
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019This paper presents a novel indoor localization method for skid-steering mobile robot by fusing the readings from encoder, gyroscope, and magnetometer which can be read as an enhanced dead-reckoning localization method. Compared with the traditional dead-reckoning localization method implemented by encoder only, the accuracy and reliability can be ...
Wenjun Lv, Yu Kang 0001, Jiahu Qin
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Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels
Robotica, 2011SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed ...
Tokuji Okada +3 more
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Kinodynamic Motion Planning of a Skid-Steering Mobile Robot Using RRTs
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting, 2010Motion planning is one of the fundamental problems in autonomous robotic navigation. However, usually the dynamic model of the robot is not considered on most of the basic motion planners, resulting in trajectories that may be difficult to be tracked by real robots. This paper describes the sampling-based Kino dynamic motion planning of a skid-steering
Daniel Alves Barbosa de Oliveira Vaz +2 more
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Modeling Power Requirements for Skid-Steer Mobile Robots in Manufacturing Environments
Volume 5A: 40th Mechanisms and Robotics Conference, 2016This paper demonstrates an approach for predicting and optimizing energy consumption in skid-steer mobile robots (SSMRs) conducting manufacturing tasks. This work is unique in that it considers the energy associated with real-time predictions of slipping in the SSMR and further considers a specific application in which the SSMR is operating in an ...
Stephen L. Canfield +2 more
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Mathematical Model of a SKID-Steered Mobile Robot for Control and Self-Localisation
IFAC Proceedings Volumes, 2001Abstract Department of Control, Measurement and Instrumentation has developed a new Skid-steered Mobile Robot (SSMR) recently. The SSMR is an indoor/outdoor remotely/autonomous operable vehicle designed for research in combination of autonomous and man-machine control of mobile robots with application of telepresence principles. The article describes
František Šole +2 more
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