Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor

Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an anal...

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Bibliographic Details
Main Authors: Tianmiao Wang, Yao Wu, Jianhong Liang, Chenhao Han, Jiao Chen, Qiteng Zhao
Format: Article
Language:English
Published: MDPI AG 2015-04-01
Series:Sensors
Subjects:
mobile robot
laser scanner
skid-steering
instantaneous centers of rotation
experimental kinematics
dynamic model
Online Access:http://www.mdpi.com/1424-8220/15/5/9681

Internet

http://www.mdpi.com/1424-8220/15/5/9681

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