Heading Following of Wheeled Skid-Steer Mobile Robots Based on Speed Control

As heading following in wheeled skid-steer mobile robots(WSMR) is difficult to implement, an algorithm based on neural network speed control is presented in this paper. Dynamic modeling and theory for wheeled skid-steer are first introduced. Then, its parameterized model is built up by ADAMS. A co-simulation is then performed using ADAMS and Matlab. Dynamic, graphic display of simulation results shows that the control strategy can realize an efficient control of the WSMR.