Investigating parameters in the dynamic configuration of four-wheeled and six-wheeled skid steering mobile robots to improve on-site rotation performance
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https://doi.org/10.54939/1859-1043.j.mst.CAPITI.2024.34-40Keywords:
Mobile robot; Four wheeled skid-steering mobile robot; SSMR; Dynamic model; On site rotation.Abstract
This article studies the dynamic model of a four-wheeled and six-wheeled skid-steering mobile robot (SSMR), focusing on the on site rotation mode (zero turning radius). From there, the influence of some parametters in dynamic configuration of the robots on the rotation performance is built, without changing the robot's drive motor. Then the optimal choice of these parameters can be made to improve the robot's on-site rotation performance. The research results are simulated and demonstrated on MATLAB.
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