Publication detail

Modeling and Simulation of a 4-Wheel Skid -Steered Mobile Robot

ŠOLC, F.

Original Title

Modeling and Simulation of a 4-Wheel Skid -Steered Mobile Robot

Type

journal article - other

Language

English

Original Abstract

The paper introduces mathematical model and simulation scheme of a skid steered mobile platform for robotics. The platform consists of a rectangular steel construction with four wheels. Two banks of two drive wheels on each side are linked to two DC electrical motors via chain on sprocket drive and gearing. The two drive assemblies for the left and right banks are identical but they operate independently to steer the vehicle by skid. Wheels of the vehicle consist of rims and shallow tread pneumatic tyres. Behaviour of the model is compared with unicycle model and real experiment.

Key words in English

Modeling,Simulation,Robot,Skid-steering

Authors

ŠOLC, F.

RIV year

2001

Released

1. 6. 2001

ISBN

1345-2681

Periodical

Machine Intelligence and Robotic Control

Year of study

3

Number

2

State

Japan

BibTex

@article{BUT40463,
  author="František {Šolc}",
  title="Modeling and Simulation of a 4-Wheel Skid -Steered Mobile Robot",
  journal="Machine Intelligence and Robotic Control",
  year="2001",
  volume="3",
  number="2",
  issn="1345-2681"
}