Modeling and control of a skid-steering mobile platform with coupled side wheels

Tchoń, Krzysztof; Zadarnowska, Katarzyna; Juszkiewicz, Lukasz; Arent, Krzysztof

doi:10.1515/bpasts-2015-0092

Cited by 11 publications

(10 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Skid-steered robots are complex objects from the point of view of modeling and control. Modeling and control of motion of this type of robots are, among others, the subject of works [7,11,15].…”

Section: Skid-steered Wmrsmentioning

confidence: 99%

“…This approach is used, among others, in the works [5,15]. In turn, in the paper [11] for motion control of the robot the Nonlinear Model Predictive Control (NMPC) method was used.…”

Section: Skid-steered Wmrsmentioning

confidence: 99%

“…The examples of such robots are Rex [11] and PIAP GRANITE [14] with independent drive on all wheels, as well as PIAP SCOUT and PIAP Fenix [26] ( Fig. 5) with 2 driven wheels (one on each side of the robot).…”

Section: Skid-steered Wmrsmentioning

confidence: 99%

See 2 more Smart Citations

Mechanical Properties of Modern Wheeled Mobile Robots

Trojnacki¹,

Dąbek²

2019

JAMRIS

View full text Add to dashboard Cite

The paper discusses mechanical properties of modern wheeled mobile robots including aspects of kinematics and dynamics. Relevant features of these robots and of used types of wheels are considered. Robots are categorized into six groups according to kinematic structures, which can be obtained using various types of wheels. For each group mechanical properties, which characterize the robots are discussed. Various variants of the robots within particular groups are described and some examples of existing solutions are given. Individual variants of the robots are compared and assessed taking into account the possessed features.

show abstract

Section: Skid-steered Wmrsmentioning

confidence: 99%

“…This approach is used, among others, in the works [5,15]. In turn, in the paper [11] for motion control of the robot the Nonlinear Model Predictive Control (NMPC) method was used.…”

Section: Skid-steered Wmrsmentioning

confidence: 99%

See 1 more Smart Citation

Mechanical Properties of Modern Wheeled Mobile Robots

Trojnacki¹,

Dąbek²

2019

JAMRIS

View full text Add to dashboard Cite

show abstract

“…k D = diag{10, 10, 10, 10, 10, 10}, (43) k I = diag{10, 10, 10, 10, 10, 10}, (44) Λ = diag{1.5, 1.5, 1.5, 1.5, 1.5, 1.5}, (45) They are different than for the airship because the dynamics of these two vehicles is quite different. Moreover, the control gains are directly related to the system dynamics.…”

Section: Underwater Vehicle Modelmentioning

confidence: 99%

Non-adaptive velocity tracking controller for a class of vehicles

Herman

Adamski

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

View full text Add to dashboard Cite

Abstract.A non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.

show abstract

“…Generally, N-trailer models are necessary for many purposes: either to determine properties of the models, [1,9] and transfer them into suitable forms for control purposes [7,13,15] or for planning and control [6,19]. Usually in N-trailer models each pair of wheels is considered as a single wheel, but at some real constructions wheels are considered separately or paired (as in ReX mobile platform [18]).…”

Section: Introductionmentioning

confidence: 99%

Kinematic Models of Doubly Generalized N-trailer Systems

Dulȩba

2018

J Intell Robot Syst

View full text Add to dashboard Cite

In this paper a Pfaff matrix for doubly generalized N-trailer systems is derived when not only lateral, as in generalized N-trailer systems, but also longitudinal constraints are respected. Based on the matrix, kinematic models are presented for doubly generalized N-trailer systems parameterized with a vector composed of codes of active constraints at each axle. For all constraints active, a closed-form formula for kinematics is derived while for other models-a recursive one is proposed. It is shown how to construct analytically a null space for two types of possible Pfaff matrices and some examples are provided to illustrate introduced formulas. The kinematic models can be used either to test algorithms of motion planning (control) for a broad class of easy parameterizable models or to design or verify wheeled systems.

show abstract

Modeling and control of a skid-steering mobile platform with coupled side wheels

Cited by 11 publications

References 19 publications

Mechanical Properties of Modern Wheeled Mobile Robots

Mechanical Properties of Modern Wheeled Mobile Robots

Non-adaptive velocity tracking controller for a class of vehicles

Kinematic Models of Doubly Generalized N-trailer Systems

Contact Info

Product

Resources

About