Power Characterization of a Skid-Steered Mobile Field Robot with an Application to Headland Turn Optimization

  • Sedat Dogru
  • Lino Marques


Skid-steered platforms are in use for many different purposes, including demining, military, construction and agriculture. Their power consumption varies considerably with the maneuver they are performing, depending heavily on its radius of curvature. Therefore, efficient operation of skid-steered platforms for any purpose requires proper path planning based on a mathematical model of their power consumption. With this fact in mind, this paper studies the power consumption characterization of skid-steered vehicles and presents a method based on physical principles to estimate friction on arbitrary surfaces, and then derives a mathematical model of friction in skid-steered platforms, showing that friction in such platforms depends on the radius of curvature and slip angles of the wheels. Afterwards, the derived model is used to show the optimum type of Π turns using a skid-steered platform in a coverage path planning scenario. The proposed friction model, as well as its forecast on the optimum Π turn, are verified using both indoor and outdoor field data.


Skid-steer Friction estimation Power characterization Terrain UGV Headland Turn CPP 


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© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Institute of Systems and Robotics, Department of Electrical and Computer EngineeringUniversity of CoimbraCoimbraPortugal

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