Dynamic modeling of a skid-steered wheeled vehicle with experimental verification

Authors:
Wei Yu;Oscar Chuy;Emmanuel G. Collins;Patrick Hollis
Affiliations:
Center for Intelligent Systems, Control and Robotics and Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL;Center for Intelligent Systems, Control and Robotics and Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL;Center for Intelligent Systems, Control and Robotics and Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL;Center for Intelligent Systems, Control and Robotics and Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding along with rolling is inherent to general curvilinear motion, which makes both kinematic and dynamic modeling difficult. For the purpose of motion planning this paper develops and experimentally verifies dynamic models of a skid-steered wheeled vehicle for general planar (2D) motion and for linear 3D motion. These models are characterized by the coefficient of rolling resistance, the coefficient of friction, and the shear deformation modulus, which have terrain-dependent values. The dynamic models also include motor saturation and motor power limitations, which enable correct prediction of vehicle velocities when traversing hills. It is shown that the closed-loop system that results from inclusion of the dynamics of the (PID) speed controllers for each set of wheels does a much better job than the open loop model of predicting the vehicle linear and angular velocities. Hence, the closed-loop model is recommended for motion planning.