DEVELOPMEMT AND VERIFICATION OF A DYNAMIC MODEL OF A MOBILE ROBOT WITH SKID STEERING

Abstract

The article considers the development and experimental verification of a dynamic model of a mobile robot with skid-steering moving on a hard supporting surface. The paper presents a kinematic model with an effective surface-dependent coefficient, as well as a dynamic model that takes into account rolling resistance, sliding friction, and the resisting moment arising from the interaction between the wheels and the surface. To describe the contact between the wheel and the supporting surface, the relationship between shear stress and shear displacement is used, which makes it possible to account for the accumulated displacement in the contact patch. Experimental verification was carried out on a skid-steering platform during straight-line and turning motion on a hard floor; during the tests, coordinate displacements and the body rotation angle were measured. For different ratios of control inputs applied to the leading and trailing sides, values of the effective surface-dependent coefficient were selected, after which the simulation results were compared with the experimental data. Kinematic and dynamic models are necessary for the further synthesis of a control law for a mobile robot.