Multibody Modeling for the Analysis of the Maneuverability of a Skid Steering 6-Wheeled Robot
摘要
In this paper, the analysis of the maneuverability of a Skid Steering 6-Wheeled Robot has been addressed. Through kinematic considerations, two logics for assigning speed references of the wheels to improve turning capabilities are proposed. Such logics are compared to the differential drive logic, known in the literature, through a dynamic model. This multibody and multiphysics model has been used to understand how much the dynamics affect the planned trajectory for the three compared logics.