Effectiveness of separated ICR for a wheeled skid-steering robot

Abstract

The skid-steering robot has gained popularity due to its mechanical simplicity and robustness, making it a preferred choice in various applications. However, this configuration is prone to slip during turning maneuvers, resulting in inaccurate trajectory prediction using the conventional differential drive kinematic model. The separated instantaneous centers of rotation (ICRs) approach has been proposed to address this issue and mitigate slips experienced during turns. Compared to the computer simulations, this study investigates the trends of the separated ICR approach on the trajectory error using a real-world robot across different terrains in low dynamic conditions. The findings reveal that the effectiveness of the separated ICR approach in compensating for slip varies depending on the turning radius. Specifically, the approach is less effective with smaller turning radii and vice versa. Surprisingly, the terrain type does not significantly impact the effectiveness of the separated ICRs approach, suggesting that its performance is more closely linked to the turning radius than to the terrain conditions. Although the simulation method outlined in this research struggles with precise surface roughness estimation, it demonstrates consistent skid behavior, indicating the potential utility of separated ICRs for skid-steering robots. To enhance the accuracy of computer simulations, a deeper exploration of terrain surface conditions is necessary. Nonetheless, the implementation of separated ICRs on our four-wheel mobile robot shows promising results, underscoring the viability of using separated ICRs to improve the performance of skid-steering robots in various settings.