Authors:
Seungwoo Jeon
1
;
Wootae Jeong
2
and
Duckshin Park
2
Affiliations:
1
Korea University of Science and Technology and Korea Railroad Research Institute, Korea, Republic of
;
2
Korea Railroad Research Institute, Korea, Republic of
Keyword(s):
mobile platform, skid steering, trajectory tracking, driving control, vehicle control
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vehicle Control Applications
Abstract:
The skid steering technique has been widely used in controlling mobile vehicles without steering wheels because of light-weight and relatively simple structural configuration for steering motion control. However, since the skid controlled mobile platform system is based on nonholonomic constraint, it is essential to linearizing the nonlinear dynamic model of the vehicle for improving the stability of traction control. Recently developed ventilation duct cleaning robot with moving brushing arm also utilizes the skid steering system for traction control. Since the moving brush arm may change the mass center of the platform and effect on dynamics consequently, a new control scheme is suggested and simulated to achieve the stable trajectory tracking and driving motion of the developed mobile platform