Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
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3.3 Characterization <strong>of</strong> the Tire Forces 52(a)(b)Figure 3.9: Static lateral <strong>for</strong>ce by dragging a single wheel upon a piece <strong>of</strong> wood: (a) without the ability to moveperpendicularly to the drag surface; (b) with the ability to move perpendicularly to the drag surface.