Detail publikace

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

ŠOLC, F.

Originální název

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

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova v angličtině

Modeling,Simulation,Robot,Skid-steering

Autoři

ŠOLC, F.

Rok RIV

2001

Vydáno

1. 6. 2001

ISSN

1345-2681

Periodikum

Machine Intelligence and Robotic Control

Ročník

3

Číslo

2

Stát

Japonsko

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"
}