@inproceedings{828ad9ba0f53466db6842f260d3d2e93,
title = "Steering Dynamics and Path Tracking Control of Wheel-Legged Robot",
abstract = "During the steering process of the traditional skid steering robot, the longitudinal force and lateral force of the wheel are large, and the tire wears quickly. Based on the wheel-legged robot designed by the research group, combined with the advantages of legs and wheels, this paper proposes a steering method that shortens the inner wheelbase during steering. Under the same motion path, it can effectively reduce the tire longitudinal force during steering, and improve steering stability. In order to realize autonomous tracking under the condition of changing wheelbase, a path tracking algorithm is designed using sliding mode control and PID control. The longitudinal force of each wheel is solved by quadratic programming algorithm, and the stable tracking of the desired path is realized.",
keywords = "path tracking, steering, wheel-legged robot, wheelbase",
author = "Yansong Gong and Lijin Han and Hui Liu",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 6th International Conference on Robotics and Automation Sciences, ICRAS 2022 ; Conference date: 09-06-2022 Through 11-06-2022",
year = "2022",
doi = "10.1109/ICRAS55217.2022.9842245",
language = "English",
series = "2022 6th International Conference on Robotics and Automation Sciences, ICRAS 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "126--131",
booktitle = "2022 6th International Conference on Robotics and Automation Sciences, ICRAS 2022",
address = "United States",
}