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GRASP Seminar: Emmanuel Collins, Florida A&M University-Florida State University, “Dynamic Modeling of Skid-Steered Vehicles for Motion Planning”

January 23, 2009 @ 11:00 am - 12:00 pm

Abstract: Skid-steered vehicles, including important classes of legged robots, are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding along with rolling is inherent to general curvilinear motion, which makes both kinematic and dynamic modeling difficult. However, dynamic models are particularly useful for time-optimal and energy efficient motion planning and can lead to less frequent replanning. This seminar describes the development and experimental verification of a skid-steered wheeled vehicle for general planar (2D) motion and for linear 3D motion. These models are characterized by the coefficient of rolling resistance, the coefficient of friction, and the shear deformation modulus, which have terrain-dependent values. The dynamic models also include motor saturation and motor power limitations, which enable correct prediction of vehicle velocities when traversing hills. It is shown that the closed-loop system that results from inclusion of the dynamics of the (PID) speed controllers for each set of wheels does a much better job than the open loop model of predicting the vehicle linear and angular velocities. Hence, the closed-loop model is recommended for motion planning.


Dr. Emmanuel Collins is currently the John H. Seely Professor with the Florida A&M University-Florida State University Department of Mechanical Engineering. He received his PhD in Aeronautics and Astronautics at Purdue University in 1987. Collins teaches both graduate and undergraduate courses in Controls, Dynamics and Vibrations. His research is in controls with a current emphasis on robust control, robust estimation and fault detection, and the control of manufacturing processes. Collins serves as the FSU Coordinator of the FGLSAMP (Florida-Georgia Alliance for Minority Participation) Program, whose mission is to increase the retention and matriculation in graduate school of STEM students from underrepresented minorities since December of 2004. Dr. Collins has also been the Director of the Center of Intelligent Systems, Controls and Robotics (CISCOR) since August of 2003.


January 23, 2009
11:00 am - 12:00 pm
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