Bibliographic Details
| Title: |
Motion Planning & Control of Skid-Steered Mobile Robot. |
| Authors: |
Mohani, Syed Sheraz1 smohani@iqra.edu.pk, Abbasi, Abdul Rehman2, Ilyas, Hafiz Muneeb2, Jamal, Ahsan1, Sheikh, Hassaan Muhammad1, Hafiz, Syed Rameez Hussain1 |
| Source: |
Asian Journal of Engineering, Sciences & Technology (AJEST). Mar2016, Vol. 6 Issue 1, p9-13. 5p. |
| Subjects: |
Mobile robots, Computational steering (Computer science), Prototypes, Motion control devices, Computer-aided design |
| Abstract: |
This paper reports the design; development and evaluation of a prototype four wheeled Skid-Steered Mobile Robot to execute in two different motion schemes. First, different types of locomotion systems used for mobile robots are compared and their pros and cons are presented. Then the mechanism designed for the prototype wheeled SSMR is described with the aid of a CAD model. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Finally, the results of field testing of the actual robot are presented and the behavior of wheeled Skid-Steered Mobile Robots in presence of slippage is discussed. [ABSTRACT FROM AUTHOR] |
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| Database: |
Engineering Source |
