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- W4313854558 abstract "This paper deals with the linear lateral motion model for the dynamic skid steering mobile robot system. Previous papers, it doesn’t have any research which considers the lateral target position of the robot but also driving conditions. The proposed model includes a cornering stiffness to contemplate varying road conditions. For driving based on the vision sensors, it has a parameter like look-ahead distance detected with a stereo or depth camera. States of the model consider the yaw-rate state, then make the robot more smooth or more exact. Following the yaw-rate state, lateral position and yaw state are changed. We observe various scenarios by adopting a high-level controller or trajectory on the proposed model. The proposed model’s reliability was validated through computational simulation results and genuine commercial service with a real robot, Neubility-inc’s Neubie." @default.
- W4313854558 created "2023-01-10" @default.
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- W4313854558 date "2022-11-27" @default.
- W4313854558 modified "2023-09-30" @default.
- W4313854558 title "Linear lateral motion model for urban delivery skid steering robot" @default.
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- W4313854558 doi "https://doi.org/10.23919/iccas55662.2022.10003671" @default.
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