A stable tracking control of skid steered mobile platform

The skid steering technique has been widely used in controlling mobile vehicles without steering wheels because of light-weight and relatively simple structural configuration for steering motion control. However, since the skid controlled mobile platform system is based on nonholonomic constraint, it is essential to linearizing the nonlinear dynamic model of the vehicle for improving the stability of traction control. Recently developed ventilation duct cleaning robot with moving brushing arm also utilizes the skid steering system for traction control. Since the moving brush arm may change the mass center of the platform and effect on dynamics consequently, a new control scheme is suggested and simulated to achieve the stable trajectory tracking and driving motion of the developed mobile platform.