The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergenc...

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...

Abstract—The reheating furnace is used to reheat the steel slabs before the hot-rolling process. The supported system includes the stationary/moving beams, and the skid buttons which block some thermal radiation transmitted to the bottom of the slabs. Therefore, it is important to analyze the steel slab temperature distribution during the heating period. A three-dimensional mathematical transie...

This report pertains to the selection of a minimum skid resistance for use as another guideline for surface improvements by the Texas Highway Department. This problem was approached from an accident standpoint as well as from a design standpoint, since experience on several sections of roadway indicated a sharp reduction of accidents after surface improvements. Skid resistance and accident data...

Forestry operations can significantly alter hydrological and erosional processes in a catchment. In the course of developing timberland, a network of persistent roads and skid trails causing soil compaction is usually established. Hereby, the infiltration rate of the soil is distinctly reduced, which leads to the generation of overland flow—this may also cause soil erosion. In this study, a sma...

This paper presents some results of a study, which aimed at modelling pavement evolution by different methods. In a first part, a database was constituted with data collected on French roads in the last decades. The database contains skid resistance values (Sideway Force Coefficient measured by SCRIM/Sideway force Coefficient Routine Investigation Machine), macrotexture values (Mean Profile Dep...

A parafoil controlled by parafoil brake de ection offers a lightweight and space-efŽ cient control mechanism for autonomous placement of air-dropped payloads to speciŽ ed ground coordinates. The work reported here investigates control issues for a parafoil and payload system with left and right parafoil brakes used as the control mechanism.It is shown thatparafoilandpayloadsystems can exhibit ...