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

LIST OF FIGURESVIII6.21 Amplitude of the data without the aluminum frame on: (a) Concrete; (b)Carpet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1176.22 Low-pass filtered data from accelerometers and their FFT with the accelerometerson a wheel on concrete for: (a) ω ∗ z= 2 degs ; (b) ω∗ z= 10 degs ; (c)ω ∗ z = 18 degs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1186.23 Low-pass filtered data from accelerometers and their FFT with the accelerometerson a wheel on carpet for: (a) ω ∗ z = 2 degs ; (b) ω∗ z = 10 degs ; (c) ω∗ z = 18 degs . 1196.24 Peak frequencies with the accelerometers on a wheel on: (a) Concrete; (b)Carpet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1206.25 Simulation results from accelerometers and their FFT with λ max = 1 for: (a)ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . . . 1226.26 Simulation results from accelerometers and their FFT with λ max = 10 −1 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1236.27 Simulation results from accelerometers and their FFT with λ max = 10 −2 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1246.28 Simulation results from accelerometers and their FFT with λ max = 10 −3 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1256.29 Simulation results from accelerometers and their FFT with λ max = 10 −4 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1266.30 Peak frequencies of simulation results with λ max = 1 for: (a) a x ; (b) a y ; (c) a z . 1276.31 Peak frequencies of simulation results with λ max = 10 −1 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1286.32 Peak frequencies of simulation results with λ max = 10 −2 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1296.33 Peak frequencies of simulation results with λ max = 10 −3 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1306.34 Peak frequencies of simulation results with λ max = 10 −4 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1316.35 Amplitude of the simulation results with: (a) λ max = 1; (b) λ max = 10 −1 ; (c)λ max = 10 −2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1326.36 Amplitude of the simulation results with: (a) λ max = 10 −3 ; (b) λ max = 10 −4 . . 133