Adaptive Online Steering Efficiency Coefficient Estimation for Enhanced Terrain Motion Control in Four-wheeled Skid-steering Mobile Robots

In this paper, we present a novel online estimation strategy for the equivalent differential drive kinematic model parameters of a four-wheeled skid-steering mobile robot (SSMR) that navigates by manipulating the speed difference between the wheels on each side. Our approach addresses challenges ari...

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Veröffentlicht in:	International journal of control, automation, and systems automation, and systems, 2023-08, Vol.21 (8), p.2444-2454
Hauptverfasser:	Bao, Le, Li, Kai, Han, Changsoo, Shin, Kyoosik, Kim, Wansoo
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Adaptive control Algorithms Angular velocity Automation Coefficient of friction Control Engineering Equivalence Inertial platforms Inertial sensing devices Kinematics Mathematical models Mechatronics Motion control Parameter estimation Proportional derivative Robot control Robot dynamics Robotics Robots Skid steering Special Section on the 22nd International Conference on Control Systems (ICCAS 2022) Terrain
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