Possible Control Methods for Skid-Steer Mobile Robot Platforms

The aim of this paper is to collect and analyze the possible low-level control methods for skid-steer mobile robot platforms. Most low-level control methods for mobile robots rely on the kinematic or dynamic model of the controlled robot platform. However, in case of skid-steer mobile robots, a precise kinematic or dynamic model might be too costly to be implemented for a control method. Thus, it has an outstanding importance to find a control method which can be precise enough even with a simplified kinematic or dynamic model. The overall control scheme of skid-steer robots is also discussed, along with issues regarding the kinematic and dynamic modelling of the mentioned platforms.