Skid steering mobile robot modeling and control

Elshazly, Osama; Abo-Ismail, Ahmed; Abbas, Hossam S.; Zyada, Zakarya

doi:10.1109/control.2014.6915116

Cited by 16 publications

(10 citation statements)

References 8 publications

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“…LQR is an optimal controller as it provides the smallest possible error in its output when compared to the input. The later controller design was optimally in paper [1]. By taking all the parameters needed for feedback model, drive model and dynamic model as derived in paper [1][2] further analysis were imbued in the Mbed LPC1768 microcontroller.…”

Section: Lqr Controllermentioning

confidence: 99%

“…The later controller design was optimally in paper [1]. By taking all the parameters needed for feedback model, drive model and dynamic model as derived in paper [1][2] further analysis were imbued in the Mbed LPC1768 microcontroller. The block diagram of LQR controller as shown in Figure 10.…”

Section: Lqr Controllermentioning

confidence: 99%

“…There are lots of research on the kinematics and dynamic modelling, and for the control system for the mobilization of the robot, which should satisfy its performance based on time and accuracy. Although several research were conducted on the control system [1], the implementation on an embedded board has not been mentioned involving memory management and low redundancy. There were several research related to various approaches to achieve the optimum control system and their respective simulation results proved to be optimum [1][2][3][4][5][6], but when used in a system or a robot, the output determines all these models to be sparse.…”

Section: Introductionmentioning

confidence: 99%

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Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded

Majumdar¹,

Gupta²,

Prasath³

2018

IJRA

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A detailed approach for a linear Proportional-Integral-Derivative (PID) controller and a non-linear controller - Linear Quadratic Regulator (LQR) is discussed in this paper. By analyzing several mathematical designs for the Skid Steer Mobile Robot (SSMR), the controllers are implemented in an embedded microcontroller - Mbed LPC1768. To verify the controllers, MATLAB-Simulink is used for the simulation of both the controllers involving motors - Maxon RE40. This paper compares between PID and LQR controller along with the performance comparison between Homogenous and Non-Homogenous LQR controllers.

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Section: Lqr Controllermentioning

confidence: 99%

Section: Lqr Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded

Majumdar¹,

Gupta²,

Prasath³

2018

IJRA

View full text Add to dashboard Cite

show abstract

“…Skid steering can be characterized by an absence of a separate steering system, like, for example, in the Ackermann steering system. Advantages provided by the skid-steered scheme are a simple mechanical structure, robustness and high maneuverability [6].…”

Section: Introductionmentioning

confidence: 99%

“…Many researches, however, utilize the classic dynamics model, including contact forces obtained with analytical functions derived from experimental data. Equations of motion for skid-steering based mobile robots are well-known and can be found to name a few in Reference [6,[11][12][13]. Ahmadi et al [14] slightly simplified the model by excluding the nonholonomic constraint from the dynamics equations, while Tang et al [15] considered more complex and generalized track-terrain interactions model.…”

Section: Introductionmentioning

confidence: 99%

On-Line Learning and Updating Unmanned Tracked Vehicle Dynamics

Strawa¹,

Ignatyev²,

Zolotas³

et al. 2021

Electronics

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Increasing levels of autonomy impose more pronounced performance requirements for unmanned ground vehicles (UGV). Presence of model uncertainties significantly reduces a ground vehicle performance when the vehicle is traversing an unknown terrain or the vehicle inertial parameters vary due to a mission schedule or external disturbances. A comprehensive mathematical model of a skid steering tracked vehicle is presented in this paper and used to design a control law. Analysis of the controller under model uncertainties in inertial parameters and in the vehicle-terrain interaction revealed undesirable behavior, such as controller divergence and offset from the desired trajectory. A compound identification scheme utilizing an exponential forgetting recursive least square, generalized Newton–Raphson (NR), and Unscented Kalman Filter methods is proposed to estimate the model parameters, such as the vehicle mass and inertia, as well as parameters of the vehicle-terrain interaction, such as slip, resistance coefficients, cohesion, and shear deformation modulus on-line. The proposed identification scheme facilitates adaptive capability for the control system, improves tracking performance and contributes to an adaptive path and trajectory planning framework, which is essential for future autonomous ground vehicle missions.

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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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Skid steering mobile robot modeling and control

Cited by 16 publications

References 8 publications

Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded

Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded

On-Line Learning and Updating Unmanned Tracked Vehicle Dynamics

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

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