Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

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1.2 The sensors 10control resolution 0.14 µm. It is also equipped with a force sensor with a sensitivity of 1 mN,and two closed loop servo controllers, both feature 8 kHz servo update frequency and programmablelog rates to 1 kHz [14].The data are acquired by using the MTESTQuattro software, provided by the same company.Figure 1.3: Picture of the eXpert 2653 ADMET universal testing machine.
Chapter 2Modeling of Skid-Steering Mobile RobotsSkid-steering mobile robots (SSMRs) have been widely used in many applications, suchas terrain navigation and exploration, waste management, defense, security, and householdservices. For a skid-steered robot, there is no steering mechanism and motion direction isprovided by turning the left-side and right-side wheels at different velocities. The absenceof a steering system makes the robot mechanically robust and simple for terrain or outdoorenvironment navigation. Due to the varying tire/ground interactions and over-constrainedcontact, it is quite challenging to obtain accurate kinematic and dynamic models, and thereforerobust tracking control scheme, for such mobile robots. Although there is a great deal ofresearch on dynamic modeling and tracking control of differential-driven mobile robots thatare under the non-holonomic constraint of zero lateral velocity, such as unicycles or car-likerobots [1], [2], [3], the counterpart research on skid-steered mobile robots is less frequentlyreported. However, because of the similarity between skid-steering of tracked and wheeledvehicles, the method of modeling the track/ground interaction for tracked vehicles can beutilized for skid-steered wheeled robots.Wheel slip plays a critical role in both the kinematic and dynamic modeling of skid-steeredmobile robots. The slip information, in fact, provides a connection between the wheel rotationvelocity and the linear and angular motion of the robot platform. The wheel slip alsoplays an important role in robot dynamics, as the wheel/ground interactions directly providetraction and braking forces that affect the motion stability and maneuverability and theygreatly depend on the wheel slip. Thus, understanding the slip information is not only importantfor trajectory control and localization applications, such as dead-reckoning, but it iseven more important for stabilization control applications when the roll and pitch motion are
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Page 8 and 9: LIST OF FIGURESVII6.4 (a) Block sch
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Page 22 and 23: 2.1 State of the Art 12not negligib
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Page 36 and 37: 2.2 Generalized Modeling 26V = [v T
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Page 42 and 43: 2.2 Generalized Modeling 32where we
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4.1 Tire Lateral Force 600 ≤ µ i
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4.3 Tire Vertical Force 62f ix (t)
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Chapter 5Identification of the Robo
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5.1 Identification of the Geometric
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5.2 Identification of the Tire Dyna
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Chapter 6SimulationIn this chapter,
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6.1 Simulink Model 80On the right h
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6.1 Simulink Model 82Figure 6.3: Bl
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6.1 Simulink Model 84(a)(b)Figure 6
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6.1 Simulink Model 86that v icx can
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6.2 Simulation Results 88(a)(b)Figu
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6.2 Simulation Results 90enough to
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6.2 Simulation Results 92hand side
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6.2 Simulation Results 94(a)(b)Figu
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6.2 Simulation Results 96• For λ
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AppendixesAppendix A1 %% Main progr
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Bibliography[1] G. Oriolo, A. De Lu
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Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

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