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Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots
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. Kinematic and dynamic modeling of the robot is first presented. A pseudo-static friction model is used to capture the interaction between the wheels and the ground. An adaptive control algorithm is designed to simultaneously estimate the wheel/ground contact friction information and control the mobile
doi:10.1109/robot.2007.363858
dblp:conf/icra/YiSZG07
fatcat:nar2ceyd2rexfao7x6mqopa3ye