Hierarchical Control Coordination Strategy of Six Wheeled Independent Drive (6WID) Skid Steering Vehicle
نویسندگان
چکیده
منابع مشابه
Tracking and Regulation Control of a Skid Steering Vehicle
Differentially driven skid-steering vehicles are often considered for navigation in outdoor terrains. However, the control of such vehicles is challenging because the wheels must skid laterally to follow a curved path, and motion stability can be lost as a result of excess skidding due to the position of the instantaneous center of rotation (ICR). To accommodate for the potential loss of stabil...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2019
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2019.09.010