Motion analysis and trajectory tracking control of four wheel skid steering mobile robots

DOI:	10.11809/bqzbgcxb2024.09.035
Keywords:	skid steering; kinematic model; dynamics model; backstepping control; trajectory tracking
Abstract:	Four wheeled Skid Steering mobile robots are widely used due to their simple structure and high reliability. For the turning motion of four wheel Skid steering mobile robots, three kinematic parameters are introduced to describe the robot’s turning motion. The dynamic model of the mobile robot is established and numerically solved to obtain the relationship between the three kinematic parameters and the wheel speeds of the robot. Furthermore, it is concluded that the Skid steering mobile robot can be effectively equivalent to a differential drive robot under low speed conditions, providing a theoretical reference for robot motion control and path planning. Based on the established kinematic model and the trajectory tracking problem, a nonlinear feedback control rate based on backstepping control is designed using the Lyapunov direct method. Through simulation experiments, the effectiveness of the proposed control method is verified.
Published:	2024-09-30
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