Wheeled mobile robots are widely implemented in the field environment where slipping and skidding may often occur. This paper presents a self-adaptive path tracking control framework based on radial basis function (RBF) neural network to overcome slippage disturbances. Both kinematic dynamic models of wheeled robot with skid-steer characteristics established position, orientation, equivalent er...

Studies of homeless alcoholic women remain rare. Women on Skid Row in New York City were sought out at the Women's Shelter for a study of homeless women alcoholics. The findings in this study of 31 homeless alcoholic women tend to confirm an earlier study by Garrett and Bahr in most respects. A major difference relates to the population's lack of homogeneity. A life-long pattern of marginality ...

A two-layer fuzzy logic controller has been designed for 2-D autonomous navigation of a skid steering vehicle in an obstacle filled environment. The first layer of the fuzzy controller provides a model for multiple sonar sensor input fusion and it is composed of four individual controllers, each calculating a collision possibility in front, back, left and right directions of movement. The secon...

The article analyzes the power train components of skid steer loaders. choice scheme and design transmission units loader with a traction electric drive is substantiated. results calculating characteristic straight-line movement taking into account different values coefficient resistance to are presented.

ground skidding on skid trails affects the physical properties of soil. the objective of this study was to evaluate changes in soil physical properties on skid trails formed due to traffic of metal-tracked skidders with regard to soil bulk density, total porosity, water content and penetration resistance. the studies were implemented on two levels of slope – 20% (sc2) – and three levels of traf...

Designing controllers for skid-steered wheeled robots is complex due to the interaction of tires with ground and wheel slip skid-steer driving mechanism, leading nonlinear dynamics. Due recent success reinforcement learning algorithms mobile robot control, Deep Deterministic Policy Gradients (DDPG) was successfully implemented an algorithm designed continuous control problems. The dynamics vehi...