Publication detail

Comparison of Models of a Skid-steered Mobile Robot

ŠOLC, F.

Original Title

Comparison of Models of a Skid-steered Mobile Robot

Type

conference paper

Language

English

Original Abstract

The paper introduces mathematical models 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. Four models of tyre – ground forces are used for modelling of motion of the system. Behaviour of the model is compared with real experiments.

Key words in English

model,mobile robot

Authors

ŠOLC, F.

RIV year

2001

Released

10. 9. 2001

ISBN

80-7204-207-6

Book

Mechatronics Robotics and Biomechanics 2001

Pages from

269

Pages to

276

Pages count

8

BibTex

@inproceedings{BUT7016,
  author="František {Šolc}",
  title="Comparison of Models of a Skid-steered Mobile Robot",
  booktitle="Mechatronics Robotics and Biomechanics 2001",
  year="2001",
  pages="8",
  isbn="80-7204-207-6"
}