Slippage Influence in Skid-Steering Platform Trajectory Tracking Quality with Unicycle Approximation

Abstract

In this paper the problem of quality control of a SSMP platform with a kinematics of an unicycle was addressed. During the movement of a SSMP platform a slippage occurs when the vehicle is changing its orientation. On the other hand, the presence of slippage is unavoidable because the platform has to induce a differential velocity on each side to change its orientation. However, when the platform moves on a trajectory without a curvature then there is no lateral slippage. It was shown that the kinematics of a SSMP platform can be approximated with a kinematics of an unicycle. The quality of the approximation depends on how much the slipping effect is introduced into the system.