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IROS
2007
IEEE

Experimental kinematics for wheeled skid-steer mobile robots

8 years 10 months ago
Experimental kinematics for wheeled skid-steer mobile robots
— This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the complexity of dynamics computations in the loop. This traction scheme is found both in many off-the-shelf mobile robots due to its mechanical simplicity and in outdoor applications due to its maneuverability. In previous works, we reported a method to experimentally obtain an optimized kinematic model for skid-steer tracked vehicles based on the boundedness of the Instantaneous Centers of Rotation (ICRs) of treads on the motion plane. This paper provides further insight on this method, which is now proposed for wheeled skid-steer vehicles. It has been successfully applied to a popular research robotic platform, Pioneer P3-AT, with different kinds of tires and terrain types.
Anthony Mandow, Jorge L. Martínez, Jes&uacu
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Anthony Mandow, Jorge L. Martínez, Jesús Morales, Jose-Luis Blanco, Alfonso García-Cerezo, Javier Gonzalez
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