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A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation

Jae-Yun Jun, Minh-Duc Hua, Faiz Benamar
2014 53rd IEEE Conference on Decision and Control  
A necessary condition for the stability of skid-steering mobile robots is that the longitudinal component of the instantaneous center of rotation (ICR) resides within the robot dimension.  ...  Tracking a given trajectory using this type of steering mechanism is not easy since it requires to relate skidding to steering.  ...  ACKNOWLEDGEMENT This work is partially supported by the RAPID-FRAUDO project (Num. 112906242) funded by the DGA (French Defence Agency).  ... 
doi:10.1109/cdc.2014.7040100 dblp:conf/cdc/JunHB14 fatcat:y6zt6zr2fzfj7leqxlprdtrpy4

Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots

Jingang Yi, Dezhen Song, Junjie Zhang, Zane Goodwin
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
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 wheeled mobile robot.  ...  An adaptive control algorithm is designed to simultaneously estimate the wheel/ground contact friction information and control the mobile robot to follow a desired trajectory.  ...  CONCLUSION We presented an adaptive trajectory control design of a skid-steered wheeled mobile robot.  ... 
doi:10.1109/robot.2007.363858 dblp:conf/icra/YiSZG07 fatcat:nar2ceyd2rexfao7x6mqopa3ye

Advanced Backstepping Trajectory Control for Skid-Steered Duct-Cleaning Mobile Platforms

Wootae Jeong, Seungwoo Jeon, Dahae Jeong
2019 Electronics  
Therefore, a model-based trajectory-tracking controller is required to control the mobile cleaning platform by considering irregular external forces.  ...  In recent years, a novel skid-steered duct-cleaning mobile platform was developed to remove dust accumulated on the inner surface of an air-ventilation duct with its rolling brushes.  ...  In addition, the center of curvilinear motion of a skid-steered platform becomes the instantaneous center of rotation (ICR) affected by wheel slippage.  ... 
doi:10.3390/electronics8040401 fatcat:rwqrlnvovvgpnohndjzq7ti4g4

Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method

Zhi Li, Bo You, Liang Ding, Haibo Gao, Fengxiang Huang
2019 International Journal of Aerospace Engineering  
The feasibility of the proposed method in the real world is demonstrated by experiments with a skid-steered WMR on the loose-soil terrain.  ...  And a new adaptive SMC method is proposed to guide a WMR in trajectory tracking missions based on the kinematic model of a general WMR.  ...  the WMR to track a cosine trajectory with 4 different methods as mentioned in Section 6 of the manuscript.  ... 
doi:10.1155/2019/4951538 fatcat:ceyngefxd5gbzh26754p3xgq5m


Osama Elshazly, Hossam Abbas, Zakarya Zyada
2016 Jurnal Ilmu Komputer dan Informasi  
In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR) is presented.  ...  The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system.  ...  Estimation of tire/ground friction of a simpli- fied dynamic model for wheeled skid steering mobile robots is considered using an online adaptive control [8] .  ... 
doi:10.21609/jiki.v9i2.381 fatcat:sqtt5jhoujbxvhe2sa4dovxjwy

Virtual Force Concept in Steering Mobile Manipulators with Skid-Steering Platform Moving in Unknown Environment

Alicja Mazur, Mateusz Cholewiński
2013 Journal of Intelligent and Robotic Systems  
Underactuated control system, namely mobile manipulator mounted on skid-steering platform has been considered in the paper.  ...  As a control scheme the concept of virtual force is presented and discussed.  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s)  ... 
doi:10.1007/s10846-013-9878-7 fatcat:l43cf6rnxbhkrdat47lkvcjtwu

Path tracking control of self-reconfigurable robot hTetro with four differential drive units [article]

Yuyao Shi, Mohan Rajesh Elara, Anh Vu Le, Veerajagadheswar Prabakaran, Kristin L. Wood
2020 arXiv   pre-print
However, with more controllable degrees of freedom, almost all of the platforms include redundancy which is modeled using the instantaneous center of rotation (ICR).  ...  In this paper, we proposed a robust path tracking controller that can handle discontinuous trajectories and sudden orientation changes.  ...  The mechanical design of hTetro and its kinematic model based on instantaneous center of rotation is presented in Section II.  ... 
arXiv:1911.08746v2 fatcat:4qm3c6bda5c6tn4v3cvpzuiile

Coupled Sliding Mode Control of an Omnidirectional Mobile Robot with Variable Modes*

Yuanlong Xie, Xiaolong Zhang, Wei Meng, Shane Xie, Liquan Jiang, Jie Meng, Shuting Wang
2020 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)  
Adequate tracking flexibility and accuracy of the omnidirectional mobile robot are difficult to be achieved with one fixed control frame due to the time-varying dynamics.  ...  Experiments on a real-life four-wheeled mobile robot validate the effectiveness and superiority of this control method comparing with single-mode control scheme or conventional methods.  ...  Up to now, many efforts have been devoted to the tracking design of mobile robots [6] - [8] .  ... 
doi:10.1109/aim43001.2020.9158823 dblp:conf/aimech/XieZMXJMW20 fatcat:h6rt5553tnemjbhp3hn6fj7wtm

Slip-aware Motion Estimation for Off-road Mobile Robots via Multi-Innovation Unscented Kalman Filter

Fangxu Liu, Xueyuan Li, Shihua Yuan, Wei Lan
2020 IEEE Access  
The mobility of skid-steered mobile robots highly depends on the nonlinear and uncertain interaction between the tire and terrain.  ...  This paper introduces an approach to estimate the position, orientation, velocity, and wheel slip for the skid-steered mobile robots navigating on off-road terrains.  ...  For a four-wheeled skid-steered mobile robot, we firstly discuss the kinematic model considering the wheel slip/skid by introducing a matrix consisting of the Instantaneous Center of Rotation (ICR) locations  ... 
doi:10.1109/access.2020.2977889 fatcat:7lnqpb4pxrhghf2atqjopb3lzm

Dynamic Modeling and Power Modeling of Robotic Skid-Steered Wheeled Vehicles [chapter]

Wei Yu, Emmanuel Collins, Oscar Chuy
2011 Mobile Robots - Current Trends  
A skid-steered vehicle can be either tracked or wheeled . Fig. 1 shows examples of a skid-steered wheeled vehicle and a skid-steered tracked vehicle. This chapter is organized into five sections.  ...  Section 5 experimentally verifies the proposed dynamic models and power models of a robotic skid-steered wheeled vehicle.  ...  Also, an adaptive controller is designed to enable the robot to follow a desired trajectory. The inputs of the dynamic model are the longitudinal slip ratios of the four wheels.  ... 
doi:10.5772/25497 fatcat:qqmf4s4y3fg37h5c64zak4ebci

Approximating Kinematics for Tracked Mobile Robots

J. L. Martínez, A. Mandow, J. Morales, S. Pedraza, A. García-Cerezo
2005 The international journal of robotics research  
In this paper we propose a kinematic approach for tracked mobile robots in order to improve motion control and pose estimation.  ...  The proposed solution is based on the fact that the instantaneous centers of rotation (ICRs) of treads on the motion plane with respect to the vehicle are dynamics-dependent, but they lie within a bounded  ...  Acknowledgments This work was partially supported by the Spanish project DPI 2002-04401-C03-01.  ... 
doi:10.1177/0278364905058239 fatcat:inz4povorvaghiutdoluksr56y

A Simplified Optimal Path Following Controller for an Agricultural Skid-Steering Robot

Benjamin Fernandez, Pedro Javier Herrera, Jose Antonio Cerrada
2019 IEEE Access  
The dynamics of a skid-steering robot present intrinsic non-linearities that make the design and implementation of a controller a very complex task, time-consuming, and difficult to implement into an embedded  ...  This paper presents a simplified first order digital model approximation and an optimal observer-based control approach for the tracking of the lateral position of such robots.  ...  ACKNOWLEDGMENT The authors would like to thank AGCO for the provision of the robot and the technical support of this research.  ... 
doi:10.1109/access.2019.2929022 fatcat:htqfcnnlavgzhldk4v3usb7gme

Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle

Wei Yu, O.Y. Chuy, E.G. Collins, P. Hollis
2010 IEEE Transactions on robotics  
Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability.  ...  For the purpose of motion planning, this paper develops and experimentally verifies dynamic models of a skid-steered wheeled vehicle for general planar (2-D) motion and for linear 3-D motion.  ...  Future research will include online calibration of terraindependent parameters (coefficient of rolling resistance, coefficient of sliding friction, and shear deformation modulus) and develop a model for  ... 
doi:10.1109/tro.2010.2042540 fatcat:hfidqljwx5djbndvxbpljfbjky

Control synthesis for 4WS vehicle-robot model for traffic program motion

Dmitry Tatievskyi
2019 Tehnologìčnij Audit ta Rezervi Virobnictva  
Об'єктом дослідження є автономний колісний мобільний робот моделі 4WS (Four Wheel Steering).  ...  Необ хідність в таких дослідженнях продиктована обмеженнями застосування роботів моделі 2WS (Two Wheel Steering) для вирішення завдання досягнення множинних цілей, пов'язаних з недостатньою їх маневреністю  ...  A mathematical model is developed for the 4WS model of an autonomous mobile robot by expanding the 2WS model with additional control for the rear wheels.  ... 
doi:10.15587/2312-8372.2019.180504 fatcat:2h7wave77jfmjcoutr7zohmkma

Autonomous maneuver of a farm vehicle with a trailed implement: motion planner and lateral-longitudinal controllers

Christophe Cariou, Roland Lenain, Benoit Thuilot, Philippe Martinet
2010 2010 IEEE International Conference on Robotics and Automation  
This paper addresses the problem of path generation and motion control for the autonomous maneuver of a farm vehicle with a trailed implement in headland.  ...  Real world experiments have been carried out on a low friction terrain with an experimental mobile robot pulling a trailer.  ...  convergence of the extended model outputs (y,θ) obs to the measured variables (y,θ) mes . 2) Control laws design: The extended model (4) constitutes a relevant basis for mobile robot control design.  ... 
doi:10.1109/robot.2010.5509447 dblp:conf/icra/CariouLTM10 fatcat:wqlosg5xi5ht3fvwmedihx2gva
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