Detail publikačního výsledku

Comparison of Models of a Skid-steered Mobile Robot

ŠOLC, F.

Originální název

Comparison of Models of a Skid-steered Mobile Robot

Anglický název

Comparison of Models of a Skid-steered Mobile Robot

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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. Four models of tyre – ground forces are used for modelling of motion of the system. Behaviour of the model is compared with real experiments.

Anglický abstrakt

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. Four models of tyre – ground forces are used for modelling of motion of the system. Behaviour of the model is compared with real experiments.

Klíčová slova v angličtině

model,mobile robot

Autoři

ŠOLC, F.

Vydáno

10.09.2001

ISBN

80-7204-207-6

Kniha

Mechatronics Robotics and Biomechanics 2001

Strany od

269

Strany počet

8

BibTex

@inproceedings{BUT7016,
  author="František {Šolc}",
  title="Comparison of Models of a Skid-steered Mobile Robot",
  booktitle="Mechatronics Robotics and Biomechanics 2001",
  year="2001",
  pages="8",
  isbn="80-7204-207-6"
}