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

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F01%3APU27408" target="_blank" >RIV/00216305:26220/01:PU27408 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

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

Original language description

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 tyrees. Behaviour of the model is compared with unicycle model and real experiment.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JB - Sensors, detecting elements, measurement and regulation

OECD FORD branch

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Project

<a href="/en/project/LN00B096" target="_blank" >LN00B096: Center for Applied Cybernetics</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2001

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Machine Intelligence and Robotic Control

ISSN

1345-2681

e-ISSN

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Volume of the periodical

3

Issue of the periodical within the volume

2

Country of publishing house

JP - JAPAN

Number of pages

4

Pages from-to

63-66

UT code for WoS article

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EID of the result in the Scopus database

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