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A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation
2014
53rd IEEE Conference on Decision and Control
A skid-steering mobile robot steers by creating a moment that is larger than the frictional moment which results in a lateral slippage also known as skidding. This moment is in turn generated by a difference of the forces originated from the two sides of the robot. Tracking a given trajectory using this type of steering mechanism is not easy since it requires to relate skidding to steering. A necessary condition for the stability of skid-steering mobile robots is that the longitudinal component
doi:10.1109/cdc.2014.7040100
dblp:conf/cdc/JunHB14
fatcat:y6zt6zr2fzfj7leqxlprdtrpy4