A trajectory tracking control of a skid steered mobile cleaning robot

Cleaning accumulated dusts inside air ventilation ducts of underground facilities is an essential process to improve indoor air quality, especially at the underground facilities such as subway platforms. Therefore, various autonomous mobile duct cleaning robots have been actively studied to be applied at the closed space of the ventilation duct. In this paper, the four wheeled skid steering mobile platform with rotating brusharms has been developed and proposed an effective skid steering control technique under changeable center of mass (CM) of the platform. The shifted CM of the platform and unstable disturbances acting on the rotating brushes from cleaning surfaces can change the dynamic steering characteristics of the platform. Therefore, this paper also proposes a new integrated backstepping and I-PD controller for stable trajectory tracking of the platform and proves the effects of the controller through simulations.