Considering Slip-Track for Energy-Efficient Paths of Skid-Steer Rovers

Effects of Turning Radius on Skid-Steered Wheeled Robot Power Consumption on Loose Soil

“…Concurring research performed a numerical optimization of the energy consumed during a CLC path using the hard ground power model and yielded to the same result, i.e. the optimal turning radius for a CLC path on hard ground is R 0 [34] (see Appendix F). As it can be seen in Fig.…”

Path Planning for Autonomous Mobile Robots: A Review

“…Zhang et al [ 20 ] summarize some kinematic and dynamic models of different well-known configurations: Differential drive [ 32 ] (see Koguma robot [ 33 ] in Figure 3 a as an example and the depiction of the model in Figure 4 a), Ackermann steering [ 34 ] (see Figure 4 b,d), Skid steering [ 35 ] (see Figure 4 c) and Omnidirectional [ 36 ]. Some of them entail constraints relevant to path planning, such as the minimum turning radius of robots with Front Ackermann steering [ 37 ] (see Figure 4 b) or the high energy consumption of Skid-steering robots in turning manoeuvres [ 38 ]. Moreover, another model exists, called Crabbing (see Figure 4 e).…”

Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain

“…In skid-steer vehicles, wheels or tracks have a fixed direction, so tread slippage is required for turning, which implies an extra power consumption [9], specially for tracked vehicles due to their larger contact surface [10]. Thus, in contrast with differential-drive kinematics, the motion of the vehicle is heavily conditioned by dynamics-related aspects such as the position of the center of gravity, terrain characteristics, or inclination on the ground [11] [12].…”