Publication detail
Comparison of Models of a Skid-Steered Robot
ŠOLC, F.
English title
Comparison of Models of a Skid-Steered Robot
Type
conference paper
Language
en
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.
English 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.
Keywords in English
model, mobile robot
RIV year
2001
Released
10.09.2001
ISBN
80-7204-207-6
Book
Mechatronics Robotics and Biomechanics
Pages count
8
BIBTEX
@inproceedings{BUT7017,
author="František {Šolc},
title="Comparison of Models of a Skid-Steered Robot",
booktitle="Mechatronics Robotics and Biomechanics",
year="2001",
month="September",
isbn="80-7204-207-6"
}