Investigating parameters in the dynamic configuration of four-wheeled and six-wheeled skid steering mobile robots to improve on-site rotation performance
107 viewsDOI:
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.
References
[1]. Campion G, “Structural properties and classification of kinematic and dynamic models of wheeled mobile robots,” IEEE Trans. Robot. Automation, 12, pp. 47-62, (1996). DOI: https://doi.org/10.1109/70.481750
[2]. Yao Wu et al, “Experimental kinematics modeling estimation for wheeled skid-steering mobile robots,” IEEE International Conference on Robotics and Biomimetics (ROBIO) (2013).
[3]. Krzysztof Kozlowski, “Modeling and control of a 4-wheel skid-steering mobile robot,” Int. J. Appl. Math. Comput. Sci. Vol. 14, No. 4, pp. 477–496, (2004).
[4]. Dinh Thi Hang, et al, “Dynamic Surface Control Tracking Algorithm for Four-wheel Differential Drive Mobile Robot,” IEEE International Conference on Control, Automation and Information Sciences (2023).
[5]. Sǒle, F., et al, “Mathematical Model of a SKID-Steered Mobile Robot for Control and Self-Localisation,” In Proceedings of the 4th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2001), Sapporo, Japan, Volume 34, pp. 273–278, (2001). DOI: https://doi.org/10.1016/S1474-6670(17)33149-X
[6]. J.Y. Wong, Ph.D., D.Sc., Professor Emeritus, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada, “Theory of ground vehicles”, John Wiley & Sons, (2001).
[7]. R. Wade Allen, el al, “The Effect of Tire Characteristics on Vehicle Handling and Stability,” Vol. 109, Section 6: journal of passenger cars: mechanical systems journal, pp. 1039-1051, (2000).
[8]. Xia, D.; Liu, Q.; Lu, D., “Friction Prediction and Application to Lateral or Longitudinal Slip Force Prediction,” Machines, 10, 791, (2022). https://doi.org/10.3390/ machines10090791. DOI: https://doi.org/10.3390/machines10090791
[9]. Vũ Quốc Huy và cộng sự, “Nghiên cứu thiết kế, chế tạo tổ hợp thiết bị điều khiển từ xa dò bom mìn, vật nổ và có khả năng đào, xúc, gắp ở độ sâu đến 1,5m,” Báo cáo tổng hợp, đề tài cấp Bộ Quốc phòng, Hà Nội, (2023).
