期刊名称：International Journal on Smart Sensing and Intelligent Systems
印刷版ISSN：1178-5608
出版年度：2015
卷号：8
期号：4
页码：2116-2135
出版社：Massey University
摘要：In this paper some procedures for accurately defining the kinematic trajectories described byskid-steering robots by using only the kinematic data of the wheels (or tracks) are presented anddiscussed. These procedures have been analysed with several experimental tests carried out moving arover skid-steering robot on different surfaces. The particularity of the skid steering mobile robots is thepresence of the high slippage effects that heavily influence the correct kinematic reconstruction byusing the classical kinematic equation. For this reason, the possibility of using particular strategiesbased on the instantaneous centre radiuses is here considered; these strategies use parameters such asthe equivalent ‘carriageway’, the slipping coefficients and the slipping ratio for including the effect ofvehicle dynamics. Moreover, the effect of different surfaces is evident on the parameters thatcharacterize the considered strategies for kinematic reconstruction; anyway, the high repeatability ofthe experiments carried out on the same conditions and a certain trend of the slipping ratio that seemsto characterise the different types of surfaces, allow foreseeing positive developments of the consideredstrategies. The experiments have been carried out on a particular skid-steering robot (rover 4WD1);the generalization of the results for other types of skid-steering robot may be easily foreshadowed.The original value of the paper is related to the systematic experimental validation of the proceduresindicated and to the comments that may be very useful in defining the limits of the procedure for thekinematic reconstruction with high slipping effects
关键词：Kinematic analysis; Skid-steering robots; Position measurements
