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

Abstract

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient χ, the path curvature variable λ and robot speed v), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model’s stationary response for the vehicle shows a qualitative relationship for the specified parameters χ and λ. Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient χ and two physical factors is studied, i.e., the radius of the path curvature λ and the robot speed v. An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid–steering robot.

Design of a modular mobile multi robot system: ULGEN (universal-generative robot)

“…(1) mass of the center is located at the geometric center of the system, (2) the inner and outer wheel couples rotate at the same speed and (3) the terrain is firm and the wheels are always in contact with the terrain [26]. If its supposed that the system is moving on a plane with a linear velocity v=(vx, vy,0) T and rotates with an angular velocity of w=(0, 0, wz) T .…”

“…Locomotion with trot gait can be easily implemented in a quadruped robot [26]. The stability of this gait is directly related to the frequency of the legs moving forwards and backwards.…”

“…When the readings from the IMU matches the predefined heading goal, the system stops and move forwards(line [6][7][8][9][10][11][12][13][14]. The robot reaches to the wall and the wall is detected by its proximity sensors on the front (line [17][18][19][20][21][22][23][24][25][26][27][28][29]. The algorithm works similarly to the bug algorithm.…”

“…26 indicates the kinematic chain for the gorilla locomotion. Only the half of the configuration's kinematics analysis has been made due to its symmetric structure.…”

Robust Visual Localization with Dynamic Uncertainty Management in Omnidirectional SLAM

“…It is worth highlighting the evolution of the sensors to acquire information from the environment. Originally, laser [3][4][5] and sonar [6,7] were widely acknowledged. Despite the fact that these sensors are still strongly accepted nowadays [8][9][10], they are being slightly relegated as secondary sensory data to the detriment of visual sensors, which have been experienced an growing use recently.…”