Posture stabilization of Skid Steer Wheeled Mobile Robots

This paper represents the posture stabilization of a Skid Steer Wheeled Mobile Robot (SSWMR). Although, in mobile robots lateral skidding of the wheels occurs when turning at high speed, wheels of a SSWMR laterally skid in every rotational maneuver even for low speeds yielded the non-skidding nonhol...

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Bibliographic Details
Published in2010 IEEE Conference on Robotics, Automation and Mechatronics pp. 163 - 169
Main Authors Mohammadpour, E, Naraghi, M, Gudarzi, M
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
ADAMS
Adaptive control
Kinematics
Mobile robots
Oscillators
posture stabilization
Programmable control
robust adaptive
Service robots
skid steer
Torque control
Trajectory
Turning
Wheels
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ISBN1424465036
9781424465033
ISSN2158-2181
DOI10.1109/RAMECH.2010.5513194

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Summary:This paper represents the posture stabilization of a Skid Steer Wheeled Mobile Robot (SSWMR). Although, in mobile robots lateral skidding of the wheels occurs when turning at high speed, wheels of a SSWMR laterally skid in every rotational maneuver even for low speeds yielded the non-skidding nonholonomic constraint to be violated. In order to compensate the effects of parameter uncertainties, an adaptive torque controller is developed based on tunable dynamic oscillator. The Globally Uniformly Ultimately Bounded (GUUB) stability of the system to an arbitrarily small neighborhood of the origin is proved. To demonstrate the performance of the proposed controller, modeling of a SSWMR was implemented through ADAMS.
ISBN:1424465036
9781424465033
ISSN:2158-2181
DOI:10.1109/RAMECH.2010.5513194