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Comprehensive study of skid-steer wheeled mobile robots: development and challenges
Industrial Robot ( IF 1.8 ) Pub Date : 2020-08-05 , DOI: 10.1108/ir-04-2020-0082
Rameez Khan , Fahad Mumtaz Malik , Abid Raza , Naveed Mazhar

Purpose

The purpose of this paper is to provide a comprehensive and unified presentation of recent developments in skid-steer wheeled mobile robots (SSWMR) with regard to its control, guidance and navigation for the researchers who wish to study in this field.

Design/methodology/approach

Most of the contemporary unmanned ground robot’s locomotion is based upon the wheels. For wheeled mobile robots (WMRs), one of the prominent and widely used driving schemes is skid steering. Because of mechanical simplicity and high maneuverability particularly in outdoor applications, SSWMR has an advantage over its counterparts. Different prospects of SSWMR have been discussed including its design, application, locomotion, control, navigation and guidance. The challenges pertaining to SSWMR have been pointed out in detail, which will seek the attention of the readers, who are interested to explore this area.

Findings

Relying on the recent literature on SSWMR, research gaps are identified that should be analyzed for the development of autonomous skid-steer wheeled robots.

Originality/value

An attempt to present a comprehensive review of recent advancements in the field of WMRs and providing references to the most intriguing studies.



中文翻译:

滑移转向轮式移动机器人的综合研究:发展与挑战

目的

本文的目的是为希望在此领域进行研究的研究人员提供有关滑行转向轮式移动机器人(SSWMR)的最新发展的全面,统一的介绍,包括其控制,指导和导航方面的知识。

设计/方法/方法

当代的无人地面机器人的大多数运动都基于轮子。对于轮式移动机器人(WMR),最重要且广泛使用的驱动方案之一是滑移转向。由于机械简单性和高机动性,特别是在室外应用中,SSWMR具有优于同类产品的优势。已经讨论了SSWMR的不同前景,包括其设计,应用,运动,控制,导航和指导。已经详细指出了与SSWMR有关的挑战,这将引起有兴趣探索该领域的读者的注意。

发现

根据有关SSWMR的最新文献,确定了应进行研究的空白,以分析自主滑移转向轮式机器人的发展。

创意/价值

试图全面介绍WMR领域的最新进展,并为最有趣的研究提供参考。

更新日期:2020-08-05
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