Modeling, Control, and Wheel-Terrain Interaction Dynamics of the UGV Argo J5

Alghanim, Mohammed N.; Valavanis, Kimon P.; Rutherford, Matthew J.

doi:10.23919/ecc.2019.8796270

Cited by 4 publications

(2 citation statements)

References 61 publications

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“…A 4WD skid-steer vehicle dynamic modeling is discussed by authors, which are based on the Langrage method (Kozłowski and Pazderski, 2004). The dynamic model for Agro-J5 a 4WD SSWMR is developed using the Newton method and a PD-controller is designed to analyze the performance of the robot (Alghanim et al , 2019). The nine Degrees of freedom [DOF] non-linear dynamic model for lateral motion control of the 4WD skid-steer robot is discussed.…”

Section: Modeling Of Skid-steer Wheeled Mobile Robotsmentioning

confidence: 99%

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Khan

Malik

Raza

et al. 2020

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Purpose The purpose of this paper is to provide a comprehensive and unified presentation of recent developments in skid-steer wheeled mobile robots (SSWMR) with regard to its control, guidance and navigation for the researchers who wish to study in this field. Design/methodology/approach Most of the contemporary unmanned ground robot’s locomotion is based upon the wheels. For wheeled mobile robots (WMRs), one of the prominent and widely used driving schemes is skid steering. Because of mechanical simplicity and high maneuverability particularly in outdoor applications, SSWMR has an advantage over its counterparts. Different prospects of SSWMR have been discussed including its design, application, locomotion, control, navigation and guidance. The challenges pertaining to SSWMR have been pointed out in detail, which will seek the attention of the readers, who are interested to explore this area. Findings Relying on the recent literature on SSWMR, research gaps are identified that should be analyzed for the development of autonomous skid-steer wheeled robots. Originality/value An attempt to present a comprehensive review of recent advancements in the field of WMRs and providing references to the most intriguing studies.

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Section: Modeling Of Skid-steer Wheeled Mobile Robotsmentioning

confidence: 99%

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Khan

Malik

Raza

et al. 2020

View full text Add to dashboard Cite

show abstract

“…The obtained results showed the effectiveness of the proposed method. A detailed and complete dynamic model of Argo-J5 UGV by adding a vertical load on each wheel is presented by Alghanim et al [3]. The vehicle modeling details include motor torque, wheel torque, vehicle-terrain interaction analysis, and vertical load distribution.…”

Section: Introductionmentioning

confidence: 99%