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A kinematic approach based on an equivalent track for a skid‐steering vehicle
Author(s) -
Galati R.,
Giannoccaro N.I.,
Messina A.,
Reina G.
Publication year - 2015
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201510305
Subject(s) - slippage , skid (aerodynamics) , kinematics , payload (computing) , control theory (sociology) , simulation , computer science , robot , automotive engineering , engineering , artificial intelligence , control (management) , structural engineering , physics , classical mechanics , network packet , computer network
The skid‐steering principle is based on controlling the relative velocities of both the tracks as differential drive wheeled vehicles. However, control of tracked locomotion poses a more complex problem because variation of the relative velocity of the two tracks results often in slippage of the vehicle [1]. It is possible to define a kinematic approach able to describe and to improve the motion control and dead‐reckoning of a skid‐steering robot by considering the effects of the slippage but without introducing the complexity of dynamics computation. The equivalent track approach has been applied to a skid‐steering robot characterized by an high maximum payload (75 kg) and by a high power than makes it able to move in very difficult conditions (snow, iced terrains, mud) where the slippage effects become predominant. (© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)