Open AccessJournal Article
Modeling and control of a 4-wheel skid-steering mobile robot
TL;DR: An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed, and extensive simulation results for trajectory tracking and set-point cases are discussed.
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Abstract: A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
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Citations
Experimental kinematics for wheeled skid-steer mobile robots
Anthony Mandow,Jorge L. Martínez,Jesus Morales,Jose-Luis Blanco,Alfonso García-Cerezo,Javier Gonzalez +5 more
- 10 Dec 2007
TL;DR: 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.
199
Patent
Lawn care robot
Paul E. Sandin,Joseph L. Jones,Daniel N. Ozick,David A. Cohen,David M. Lewis,Clara Vu,Zivthan A. Dubrovsky,Joshua B. Preneta,Jeffrey W. Mammen,Duane Gilbert,Tony L. Campbell,John Bergman +11 more
- 19 Mar 2007
TL;DR: In this article, a robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn, including a grass cutter and a swath edge detector.
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Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle
TL;DR: It is shown that the closed-loop system that results from inclusion of the dynamics of the [proportional--integral--derivative (PID)] speed controllers for each set of wheels does a much better job than the open-loop model of predicting the vehicle linear and angular velocities.
113
Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control
TL;DR: The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and parametric uncertainty with less chattering.
100
Model-based Prediction of Skid-steer Robot Kinematics Using Online Estimation of Track Instantaneous Centers of Rotation
TL;DR: A kinematic extended Kalman filter EKF designed to estimate the location of track instantaneous centers of rotation ICRs and aid in model-based motion prediction of skid-steer robots and clustering of ICR estimates for the duration of the run suggests that ICR locations do not vary significantly when a vehicle is operated with low dynamics.
95
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