Modeling and control of a 4-wheel skid-steering mobile robot

Krzysztof Kozłowski; Dariusz Pazderski

International Journal of Applied Mathematics and Computer Science (2004)

  • Volume: 14, Issue: 4, page 477-496
  • ISSN: 1641-876X

Abstract

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A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.

How to cite

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Kozłowski, Krzysztof, and Pazderski, Dariusz. "Modeling and control of a 4-wheel skid-steering mobile robot." International Journal of Applied Mathematics and Computer Science 14.4 (2004): 477-496. <http://eudml.org/doc/207713>.

@article{Kozłowski2004,
abstract = {A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.},
author = {Kozłowski, Krzysztof, Pazderski, Dariusz},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {backstepping; skid-steering vehicles; mobile robots; Lyapunov analysis; time-varying control laws},
language = {eng},
number = {4},
pages = {477-496},
title = {Modeling and control of a 4-wheel skid-steering mobile robot},
url = {http://eudml.org/doc/207713},
volume = {14},
year = {2004},
}

TY - JOUR
AU - Kozłowski, Krzysztof
AU - Pazderski, Dariusz
TI - Modeling and control of a 4-wheel skid-steering mobile robot
JO - International Journal of Applied Mathematics and Computer Science
PY - 2004
VL - 14
IS - 4
SP - 477
EP - 496
AB - A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
LA - eng
KW - backstepping; skid-steering vehicles; mobile robots; Lyapunov analysis; time-varying control laws
UR - http://eudml.org/doc/207713
ER -

References

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  12. Jedwabny T., Kiełczewski M., Kowalski M., Ławniczak M., Michalski M., Michałek M., Pazderski D. and Kozłowski K. (2004): Nonholonomic mobile robot MiniTracker research and educational purposes. - Proc. 35-th Int. Symp. Robotics, Paris, France, pp. 254-259. 
  13. Kozłowski K. and Majchrzak J. (2002): A new control algorithm for a nonholonomic mobile robot. -Arch. Contr. Sci., Vol. 12, No. 48, pp. 37-69. Zbl1151.93395
  14. Kozłowski K. and Pazderski D. (2003): Control of a four-wheel vehicle using kinematic oscillator. - Proc. 6-th Int. Conf. Climbing and Walking Robots and their Supporting Technologies, CLAWAR 2003, Catania, Italy, pp. 135-146. 
  15. Pacejka H.B. (2002): Tyre and Vehicle Dynamics. - Oxford: Butterworth-Heinemann. Zbl0997.74044
  16. Pazderski D., Kozłowski K. and Dixon W.E. (2004): Tracking and regulation control of a skid steering vehicle. - Amer. Nuclear Soci, 10-th Int.Topical Meeting Robotics and Remote Systems, Gainesville, Florida, USA, pp. 369-376. 
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