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Kinematic Modeling for Skid-Steer Robots by imad is a document available to read on EtoBox.
What is Kinematic Modeling for Skid-Steer Robots about?
This paper presents an experimental kinematic model for wheeled skid-steer mobile robots, focusing on improving motion control and dead-reckoning by accounting for slippage effects. The authors propose a method for deriving kinematic parameters using external sensors and genetic algorithms, applied to the Pioneer P3-AT robot. Key contributions include a geometric interpretation of the kinematic matrix and experimental validation of the model across different terrains and wheel configurations.
- Author
- imad
- Language
- EN