Skid Steering of Robotic Vehicle for Autonomous Applications

摘要

The paper deals with principles of motion control of skid steered robotic vehicle. The proposed control of drives allows the vehicle to move on uneven terrain with different surface or inclination of the vehicle. Control was checked on physical model of robotic vehicle. Inaccuracy of odometric calculation based on wheel speed sensors is eliminated by visual odometry based on stereoscopic camera system in combination with signals from inertial sensors. Solution is based on robotic operation system ROS to ensure reusability and compatibility with another hardware platforms. Further, it has also been demonstrated that the use of electric drive for vehicles with skid steer can be energy efficient.