Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots

Abstract — Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered wheeled mobile robot. Kinematic and dynamic modeling of the robot is first presented. A pseudo-static friction model is used to capture the interaction between the wheels and the ground. An adaptive control algorithm is designed to simultaneously estimate the wheel/ground contact friction information and control the mobile robot to follow a desired trajectory. A Lyapunovbased convergence analysis of the controller and the estimation of the friction model parameter is presented. Simulation and preliminary experimental results based on a four-wheel robot prototype are demonstrated for the effectiveness and efficiency of the proposed modeling and control scheme. I