Heading following of wheeled skid-steer mobile robots based on speed control

Guang Ming Xiong; Xiao Yan Cao; Jun Yao Gao; Ji Lian Lu

Heading following of wheeled skid-steer mobile robots based on speed control

Guang Ming Xiong^*
, Xiao Yan Cao
, Jun Yao Gao
, Ji Lian Lu

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

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

Cite this

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title = "Heading following of wheeled skid-steer mobile robots based on speed control",

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.",

keywords = "Heading following, Skid-steer, Virtual prototype, Wheeled mobile robot",

author = "Xiong, \{Guang Ming\} and Cao, \{Xiao Yan\} and Gao, \{Jun Yao\} and Lu, \{Ji Lian\}",

year = "2004",

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T1 - Heading following of wheeled skid-steer mobile robots based on speed control

AU - Xiong, Guang Ming

AU - Cao, Xiao Yan

AU - Gao, Jun Yao

AU - Lu, Ji Lian

PY - 2004/8

Y1 - 2004/8

N2 - 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.

AB - 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.

KW - Heading following

KW - Skid-steer

KW - Virtual prototype

KW - Wheeled mobile robot

UR - https://www.scopus.com/pages/publications/9444254104

M3 - Article

AN - SCOPUS:9444254104

SN - 1001-0645

VL - 24

SP - 663

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JO - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology

JF - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology

IS - 8

ER -

Heading following of wheeled skid-steer mobile robots based on speed control

Abstract

Keywords

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