Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle

@article{Yu2010AnalysisAE,
  title={Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle},
  author={Wei Yu and Oscar Chuy and Emmanuel G. Collins and Patrick Hollis},
  journal={IEEE Transactions on Robotics},
  year={2010},
  volume={26},
  pages={340-353}
}
Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding, along with rolling, is inherent to general curvilinear motion, which makes both kinematic and dynamic modeling difficult. For the purpose of motion planning, this paper develops and experimentally verifies dynamic models of a skid-steered wheeled vehicle for general planar (2-D) motion and for linear 3-D motion. These models are characterized by the… 
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