Advantages of Anisotropic Wheels in Skid Steer Turns

Universiti Putra Malaysia Design of a Fuzzy Logic Controller for Skid Steer Mobile Robot

Turning Efficiency Prediction for Skid Steer Robots Using Single Wheel Testing

To date, most field robots use wheels as their means of locomotion (especially true of planetary exploration robots). In many cases these robots are required to travel significant distances, with limited power, and over rough terrain. All of which make wheels a major component contributing to their performance. It is through experimentation and iteration that effective wheel design, for a given...

Learning the Forward Predictive Model for an Off-Road Skid-Steer Vehicle

A forward predictive model is used to simulate a vehicle's motion given a sequence of commands that could potentially be executed. Generally, forward predictive models are used by planning systems for Unmanned Ground Vehicles (UGV's) so that commands can be selected such that obstacles are avoided. This report presents a data-driven approach for learning a forward predictive model based on prev...

Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles

In this paper, a novel omnidirectional vehicle with anisotropic friction wheels is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the...

Kinetic Model of a Skid Steered Robot

The paper introduces mathematical models of a skid steered mobile platform for robotics. The platform consists of a rectangular steel construction with four wheels. Two banks of two drive wheels on each side are linked to two DC electrical motors via chain on sprocket drive and gearing. The two drive assemblies for the left and right banks are identical but they operate independently to steer t...