— This paper considers the problem of stabilizing a unicycle-type mobile robot using a time-invariant, discontinuous control law. In order to simplify the control design, most pr...
— We consider the kinematic control problem for nonholonomic mobile manipulators (NMMs) whose base contains steering wheels. For all typical tasks, the steering velocity inputs o...
Alessandro De Luca, Giuseppe Oriolo, Paolo Robuffo...
— 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 compl...
— Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered whee...
A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction...