Skid steer vehicles

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.

EJBot is a propeller-type skid steering climbing robot based on both thruster and differentiable driving systems. Its adhesion principle utilizes a simultaneous hybrid actuation system consisting of propeller thrust forces and driving wheel torques. EJBot can climb different kinds of surfaces, moreover, exploring the industrial vessels' interiors for implementing the inspection tasks efficiently. kinematics and dynamics analysis are presented in this article considering EJBot as a skid steering climbing robot (SSCR). The experimental results validate the theoretical findings and ensure the stability of the robot's adhesion and navigation systems. The robot can cross over significant obstacles with 40 mm height.

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.

EJBot is a propeller-type skid steering climbing robot (SSCR) based on both thruster and differentiable driving systems. Its adhesion principle utilizes a simultaneous hybrid actuation system consisting of propeller thrust forces and driving wheel torques. EJBot can climb different kinds of surfaces, moreover, exploring the industrial vessels’ interiors for implementing the inspection tasks efficiently. kinematics and dynamics analysis are presented in this article for EJBot as an SSCR. The experimental results validate the theoretical findings and ensure the stability of the robot’s adhesion and navigation systems. The robot can cross over significant obstacles with 40mm height.