Kinetic Model of a Skid Steered Robot
نویسندگان
چکیده
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 the vehicle by skid. Wheels of the vehicle consist of rims and shallow tread pneumatic tyres. Dynamic and quasi-kinematic models are introduced. Key-Words: robot, skid steering, modelling, dynamic model, kinematic model,
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