Title

Modeling and control of a skid-steering mobile platform with coupled side wheels

Journal title

Bulletin of the Polish Academy of Sciences Technical Sciences

Yearbook

2015

Volume

63

Issue

No 3

Authors

Tchoń, K. ; Zadarnowska, K. ; Juszkiewicz, Ł. ; Arent, K.

Divisions of PAS

Nauki Techniczne

Coverage

807-818

Date

2015[2015.01.01 AD - 2015.12.31 AD]

Identifier

DOI: 10.1515/bpasts-2015-0092 ; ISSN 2300-1917

Source

Bulletin of the Polish Academy of Sciences: Technical Sciences; 2015; 63; No 3; 807-818

References

Zadarnowska (2007), A control theory framework for performance evaluation of mobile manipulators, Robotica, 25, 703, doi.org/10.1017/S0263574707003803 ; Zieliński (2010), General specification of multi - robot control system structure, Bull Pol Tech, 58, 16. ; Janiak (2011), Constrained motion planning for nonholonomic systems, Syst Control Lett, 60, 625, doi.org/10.1016/j.sysconle.2011.04.022 ; Liu (2013), Robotic urban search and rescue : a survey from the control perspective, Intell Robot Syst, 72, 147, doi.org/10.1007/s10846-013-9822-x ; Campion (1995), Andrea - Novel Control of wheeld mobile robots not satisfying ideal velocity constraints : A singular perturbation approach Robust Nonlinear Control, Int J, 5, 243. ; Ward (2008), A dynamic - model - based wheel slip detector for mobile robots on outdoor terrain, IEEE Trans Robotics, 24, 821, doi.org/10.1109/TRO.2008.924945 ; Iagnemna (2009), Classification - based wheel slip detection and detector fusion for mobile robots on outdoor terrain, Auton Robot, 26, 33, doi.org/10.1007/s10514-008-9105-8 ; Mazur (2005), New approach to designing input - output decoupling controllers for mobile manipulators, Bull Pol Tech, 53, 31. ; Kozłowski (2004), Modeling and control of a wheel skid - steering mobile robot, Int J Appl Math Comp Sci, 14, 477. ; Tchoń (2003), Endogenous configuration space approach to mobile manipulators : a derivation and performance assessment of Jacobian inverse kinematics algorithms, Int J Control, 76, 1387, doi.org/10.1080/0020717031000149942 ; Caldwell (2011), Switching mode generation and optimal estimation with application to skid - steering, Automatica, 47, 50, doi.org/10.1016/j.automatica.2010.10.010