Practical stabilization of 4WD skid-steering mobile robot

Abstract

This paper presents an algorithm based on &nematic oscillator which is used to control four wheel skidsteering mobile robot (4 WD SSMR). This proposition is an extension of original kinematic controller proposed by Dixon and others 141 and it allows to ensure practical stabilization (see works done by Morin and Samson 171) for non-admissible tmjectories. In order to improve robustness of control law dynamical model of SSMR are included by using backstepping technique and Lyapunou analysis. Theoretical results are verified by numerical simulations perfanned in Matlab/Simulink environment.

Design of a modular mobile multi robot system: ULGEN (universal-generative robot)

“…Third step includes requesting compass data to make its orientation parallel to the docking face (line 2-11). Fourth step is deciding the closest docking face of the master module, using the amount of received data from a face (line 12,14). Slave modules can check if that face is available to dock.…”

“…Figure 4.32 shows how the five module skid steering mode structure change its pose and lower or raise its body. Four wheeled skid steering systems do not have steerable wheels and the rotation is achieved by lateral slippage [14]. Skid steering is a compact driving mode which requires less parts and joints compared to the other types of steering.…”

“…The robotic structure makes a point turn until it is reached to the heading goal. When the readings from the IMU matches the predefined heading goal, the system stops and move forwards(line [6][7][8][9][10][11][12][13][14]. The robot reaches to the wall and the wall is detected by its proximity sensors on the front (line [17][18][19][20][21][22][23][24][25][26][27][28][29].…”

“…14 shows the image taken from an autonomous docking simulation when the slave module is closing up to the master module.…”