Utilization of ICR Kinematics in Estimation, Control, and Energy-Aware Mission Planning for Skid-Steer Vehicles

Open Access
Pentzer, Jesse Lorenzo
Graduate Program:
Mechanical Engineering
Doctor of Philosophy
Document Type:
Date of Defense:
October 14, 2014
Committee Members:
  • Sean Brennan, Dissertation Advisor
  • Sean Brennan, Committee Chair
  • Karl Martin Reichard, Committee Chair
  • Henry Joseph Sommer Iii, Committee Member
  • Christopher Rahn, Committee Member
  • Jacob Willem Langelaan, Committee Member
  • ground robotics
  • robot performance
  • motion estimation
  • state estimation
  • skid-steer robotics
  • path planning
This dissertation provides details of work completed in the areas of skid-steer robot modeling, trajectory control, power modeling, and energy use prediction. The vast majority of commercially available ground mobile robots utilize skid-steer technology due to the robustness and maneuverability of the design. However, the complex track/terrain interactions developed during skid-steer maneuvers are difficult to model. Most skid-steer robots are currently teleoperated mainly due to the difficulty in implementing full dynamic models of skid-steer motion for autonomy algorithms. This thesis focuses on the development of a kinematic model of skid-steer movement that is adaptable to many terrain types and, when coupled with an appropriate model of skid-steer power usage, enables energy efficient path planning and intelligent feedback to the user of remaining vehicle endurance.