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Authors: Alicja Mazur ; Wojciech Domski ; Mirela Kaczmarek and Mateusz Cholewinski

Affiliation: Wroclaw University of Technology, Poland

Keyword(s): Skid-steering Mobile Platform, Nonholonomic Constraints, Artificial Force.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: In the paper control algorithm for skid-steering mobile platform is presented. For mathematical model of such an object, expressed in auxiliary coordinates, control law based on the idea of artificial force is introduced. A skid-steering mobile platform is an underactuated control system with a rectangular input matrix. In the approach explored in the paper it was assumed that there exists an additional control input, giving an additional column in input matrix and causing this matrix invertible. Because such an actuator does not exist in reality, this input was kept equal to zero equivalently. Simulations have proved proper work of this method.

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Paper citation in several formats:
Mazur, A.; Domski, W.; Kaczmarek, M. and Cholewinski, M. (2015). New Approach to the Artificial Force Concept for Skid-steering Mobile Platform. In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-123-6; ISSN 2184-2809, SciTePress, pages 217-222. DOI: 10.5220/0005521002170222

@conference{icinco15,
author={Alicja Mazur. and Wojciech Domski. and Mirela Kaczmarek. and Mateusz Cholewinski.},
title={New Approach to the Artificial Force Concept for Skid-steering Mobile Platform},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2015},
pages={217-222},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005521002170222},
isbn={978-989-758-123-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - New Approach to the Artificial Force Concept for Skid-steering Mobile Platform
SN - 978-989-758-123-6
IS - 2184-2809
AU - Mazur, A.
AU - Domski, W.
AU - Kaczmarek, M.
AU - Cholewinski, M.
PY - 2015
SP - 217
EP - 222
DO - 10.5220/0005521002170222
PB - SciTePress

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