Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots Conference Paper uri icon

abstract

  • Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered wheeled mobile robot Kinematic and dynamic modeling of the robot is first presented. A pseudo-static friction model is used to capture the interaction between the wheels and the ground. An adaptive control algorithm is designed to simultaneously estimate the wheel/ground contact friction information and control the mobile robot to follow a desired trajectory. A Lyapunovbased convergence analysis of the controller and the estimation of the friction model parameter is presented. Simulation and preliminary experimental results based on a four-wheel robot prototype are demonstrated for the effectiveness and efficiency of the proposed modeling and control scheme. © 2007 IEEE.

name of conference

  • 2007 IEEE International Conference on Robotics and Automation

published proceedings

  • Proceedings 2007 IEEE International Conference on Robotics and Automation

author list (cited authors)

  • Yi, J., Song, D., Zhang, J., & Goodwin, Z

citation count

  • 63

complete list of authors

  • Yi, Jingang||Song, Dezhen||Zhang, Junjie||Goodwin, Zane

publication date

  • April 2007

publisher