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Mobile Robots Current Trends Part 11

Tham khảo tài liệu 'mobile robots current trends part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Part 4 Localization and Navigation 14 Dynamic Modeling and Power Modeling of Robotic Skid-Steered Wheeled Vehicles Wei Yu Emmanuel Collins and Oscar Chuy Florida State University U.S.A 1. Introduction Dynamic models and power models of autonomous ground vehicles are needed to enable realistic motion planning Howard Kelly 2007 Yu et al. 2010 in unstructured outdoor environments that have substantial changes in elevation consist of a variety of terrain surfaces and or require frequent accelerations and decelerations. At least 4 different motion planning tasks can be accomplished using appropriate dynamic and power models 1. Time optimal motion planning. 2. Energy efficient motion planning. 3. Reduction in the frequency of replanning. 4. Planning in the presence of a fault such as flat tire or faulty motor. For the purpose of motion planning this chapter focuses on developing dynamic and power models of a skid-steered wheeled vehicle to help the above motion planning tasks. The dynamic models are the foundation to derive the power models of skid-steered wheeled vehicles. The target research platform is a skid-steered vehicle. A skid-steered vehicle can be either tracked or wheeled . Fig. 1 shows examples of a skid-steered wheeled vehicle and a skid-steered tracked vehicle. This chapter is organized into five sections. Section 1 is the introduction. Section 2 presents the kinematic models of a skid-steered wheeled vehicle which is the preliminary knowledge to the proposed dynamic model and power model. Section 3 develops analytical dynamic models of a skid-steered wheeled vehicle for general 2D motion. The developed models are characterized by the coefficient of rolling resistance the coefficient of friction and the shear deformation modulus which have terrain-dependent values. Section 4 develops analytical power models of a skid-steered vehicle and its inner and outer motors in general 2D curvilinear motion. The developed power model builds upon a previously developed