Research Article
Asian Journal of Engineering, Sciences and Technology - Volume 6, Issue 1 2016
By Syed Sheraz Mohani, Abdul Rehman Abbasi, Hafiz Muneeb Ilyas, Ahsan Jamal, Hassaan Muhammad Sheikh, Syed Rameez Hussain Hafiz
Keywords: Locomotion System, Mobile Robots, SkidSteering, Slippage

This paper reports the design; development and evaluation of a prototype four wheeled Skid-Steered Mobile Robot to execute in two different motion schemes. First, different types of locomotion systems used for mobile robots are compared and their pros and cons are presented. Then the mechanism designed for the prototype wheeled SSMR is described with the aid of a CAD model. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Finally, the results of field testing of the actual robot are presented and the behavior of wheeled Skid-Steered Mobile Robots in presence of slippage is discussed.