On‐line estimation of power model parameters for skid‐steer robots with applications in mission energy use prediction
Sign Up to like & getrecommendations! Published in 2022 at "Journal of Field Robotics"
DOI: 10.1002/rob.22076
Abstract: This paper presents algorithms to predict the energy used by a skid‐steer robot to complete a given path, including the refinement of that prediction during operation. The vast majority of commercially available ground mobile robots… read more here.
Keywords: model parameters; power model; energy; skid steer ... See more keywords
Power and energy consumption of skid‐steer rovers turning on loose soil
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DOI: 10.1002/rob.22123
Abstract: This study highlights two key phenomena affecting power and energy consumption of skid‐steer rovers on loose soil that is not present on the hard ground: soil excavation due to wheel counterrotation and impeded turning when… read more here.
Keywords: energy consumption; loose soil; skid steer;
Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
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DOI: 10.1109/access.2022.3232954
Abstract: The instantaneous centers of rotation (ICRs) for the two treads of skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain with constant local coordinates, which allows to establish an equivalence with differential-drive… read more here.
Keywords: inclined terrain; analysis tread; skid steer; steer vehicles ... See more keywords
Path Tracking of a Four-Wheel Independently Driven Skid Steer Robotic Vehicle Through a Cascaded NTSM-PID Control Method
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2022.3160549
Abstract: Four-wheel independently driven skid steer robotic vehicles (IDSSRVs) have been widely applied in many fields. However, limited by small size and low power consumption, many sensors and high-performance processors cannot be equipped into four-wheel IDSSRVs,… read more here.
Keywords: driven skid; skid steer; independently driven; four wheel ... See more keywords
General Dynamic Model for Skid-Steer Mobile Manipulators With Wheel–Ground Interactions
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DOI: 10.1109/tmech.2016.2601308
Abstract: The design of motion controllers that could reduce terrain disturbances propagated to the arm and optimize the trajectories of skid-steer mobile manipulators (SSMMs) working in agricultural, construction, or mining environments requires accurate physical models capable… read more here.
Keywords: ground; skid steer; mobile manipulators; wheel ground ... See more keywords
Deep Reinforcement Learning for Autonomous Dynamic Skid Steer Vehicle Trajectory Tracking
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DOI: 10.3390/robotics11050095
Abstract: Designing controllers for skid-steered wheeled robots is complex due to the interaction of the tires with the ground and wheel slip due to the skid-steer driving mechanism, leading to nonlinear dynamics. Due to the recent… read more here.
Keywords: vehicle; reinforcement learning; reinforcement; skid steer ... See more keywords