Abstract
As heading following in wheeled skid-steer mobile robots (WSMR) is difficult to implement, an algorithm based on neural network speed control is presented in this paper. Dynamic modeling and theory for wheeled skid-steer are first introduced. Then, its parameterized model is built up by ADAMS. A co-simulation is then performed using ADAMS and Matlab. Dynamic, graphic display of simulation results shows that the control strategy can realize an efficient control of the WSMR.
| Original language | English |
|---|---|
| Pages (from-to) | 663-666 |
| Number of pages | 4 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 24 |
| Issue number | 8 |
| Publication status | Published - Aug 2004 |
Keywords
- Heading following
- Skid-steer
- Virtual prototype
- Wheeled mobile robot