Modeling and motion stability analysis of skid-steered mobile robots Conference Paper uri icon

abstract

  • Skid-steered mobile robots are widely used because of the simplicity of mechanism and high reliability. However, understanding of the kinematics and dynamics of such a robotic platform is challenging due to the complex wheel/ground interactions and kinematic constraints. In this paper, we attempt to develop a kinematic and dynamic modeling scheme to analyze the skid-steered mobile robot. We model wheel/ground interaction and analyze the robot motion stability. As an application example, we present how to utilize the kinematic and dynamic modeling and analysis for robot localization and slip estimation using only low-cost strapdown inertial measurement units (IMU). The extended Kalman filter (EKF)-based localization scheme incorporates the kinematic constraints. The performance of the EKF-based localization and slip estimation scheme are presented. The estimation methodology is tested and validated on a robotic testbed. © 2009 IEEE.

name of conference

  • 2009 IEEE International Conference on Robotics and Automation (ICRA)

published proceedings

  • 2009 IEEE International Conference on Robotics and Automation

author list (cited authors)

  • Hongpeng Wang, .., Junjie Zhang, .., Jingang Yi, .., Dezhen Song, .., Jayasuriya, S., & Jingtai Liu

citation count

  • 10

complete list of authors

  • Jayasuriya, S

publication date

  • May 2009

publisher