Practical stabilization of a skid-steering mobile robot : a kinematic-based approach

Krzysztof Kozłowski; Dariusz Pazderski

doi:10.1109/ICMECH.2006.252581

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Title

Practical stabilization of a skid-steering mobile robot : a kinematic-based approach

Authors

Krzysztof Kozłowski ^{[ 1 ][ P ]}
Dariusz Pazderski ^{[ 1 ][ P ]}

^{[ 1 ]} Katedra Sterowania i Inżynierii Systemów (KI), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2006

Chapter type

paper

Publication language

english

Abstract

EN This paper presents kinematic control problem of skid-steering mobile robot using practical smooth and time-varying stabilizer. The stability result is proved using Lyapunov analysis and takes into account both input signal saturation and uncertainty of kinematics. In order to ensure stable motion of the robot the condition of permissible velocities is formulated according to dynamic model and wheel-surface interaction. Theoretical considerations are illustrated by simulation results.

Pages (from - to)

519 - 524

DOI

10.1109/ICMECH.2006.252581

URL

https://ieeexplore.ieee.org/document/4018416

Book

Proceedings: IEEE 3rd International Conference on Mechatronics, July 3-5, 2006, Budapest, Hungary

Presented on

IEEE 3rd International Conference on Mechatronics, ICM 2006, 3-5.07.2006, Budapest, Hungary

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