Model-Based Coordinated Trajectory Tracking Control of Skid-Steer Mobile Robot with Timing-Belt Servo System

Four-wheel, independently driven skid-steer mobile robots have been widely used in some fields, such as indoor product shipping and outdoor inspection exploration. Traditional robot controllers often use a kinematics controller to obtain the desired speed of each wheel, complete closed-loop control wheel achieve robot’s trajectory tracking control. However, based on may lead chattering spin from being directly by motor uneven grounds. To solve these problems, we developed four-wheel, with damping module for timing-belt servo system proposed model-based coordinated method system. First, dynamics are established, including chassis dynamics, well Secondly, hierarchical law is designed, which has adaptive robust upper-level chassis, middle-level allocation approach, bottom-level Finally, verified comparison simulation experiments better performance.