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… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 39 CITATIONS

Rendezvous of Wheeled Mobile Robots with Sensing and Power Constraints

  • Wei Yu, Zhen Kan
  • Computer Science
  • 2018 Annual American Control Conference (ACC)
  • 2018
VIEW 4 EXCERPTS

Experimental analysis of models for trajectory generation on tracked vehicles

VIEW 10 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

Learning of skid-steered kinematic and dynamic models for motion planning

VIEW 4 EXCERPTS
CITES BACKGROUND

Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor

VIEW 4 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Predictive Control of Electric Motors Drives for Unmanned Off-road Wheeled Vehicles

VIEW 3 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Motion planning for steep hill climbing

VIEW 3 EXCERPTS
CITES BACKGROUND

References

Publications referenced by this paper.
SHOWING 1-10 OF 26 REFERENCES

Trajectory tracking control of a four-wheel differentially driven mobile robot

VIEW 9 EXCERPTS
HIGHLY INFLUENTIAL

Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots

VIEW 6 EXCERPTS
HIGHLY INFLUENTIAL

Experimental kinematics for wheeled skid-steer mobile robots

VIEW 9 EXCERPTS
HIGHLY INFLUENTIAL

Modeling and control of a 4-wheel skidsteering mobile robot

  • K. Kozlowski, D. Pazderski
  • Int. J. Appl. Math. Comput. Sci., vol. 14, no. 4, pp. 477–496, 2004.
  • 2004
VIEW 9 EXCERPTS
HIGHLY INFLUENTIAL

Theory of ground vehicles

VIEW 10 EXCERPTS
HIGHLY INFLUENTIAL

Dynamic modeling of a skid-steered wheeled vehicle with experimental verification

VIEW 1 EXCERPT

Modeling and motion stability analysis of skid-steered mobile robots

VIEW 1 EXCERPT

Power modeling of a skid steered wheeled robotic ground vehicle

VIEW 2 EXCERPTS