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Article | 01-December-2015

KINEMATIC TRAJECTORIES RECONSTRUCTION BASED ON MOTORS ENCODERS FEEDBACK FOR A ROVER SKIDSTEERING ROBOT

In this paper some procedures for accurately defining the kinematic trajectories described by skid-steering robots by using only the kinematic data of the wheels (or tracks) are presented and discussed. These procedures have been analysed with several experimental tests carried out moving a rover skid-steering robot on different surfaces. The particularity of the skid steering mobile robots is the presence of the high slippage effects that heavily influence the correct kinematic reconstruction

Nicola Ivan Giannoccaro

International Journal on Smart Sensing and Intelligent Systems, Volume 8 , ISSUE 4, 2116–2135

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