{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T05:58:50Z","timestamp":1781848730778,"version":"3.54.5"},"reference-count":21,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2015,4,24]],"date-time":"2015-04-24T00:00:00Z","timestamp":1429833600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the National High-Tech Research &amp; Development Program of China","award":["2011AA040202"],"award-info":[{"award-number":["2011AA040202"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient                                                   , the path curvature variable     and robot speed    ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model\u2019s stationary response for the vehicle shows a qualitative relationship for the specified parameters     and    . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient     and two physical factors is studied, i.e., the radius of the path curvature     and the robot speed    . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid\u2013steering robot.<\/jats:p>","DOI":"10.3390\/s150509681","type":"journal-article","created":{"date-parts":[[2015,4,24]],"date-time":"2015-04-24T10:01:59Z","timestamp":1429869719000},"page":"9681-9702","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":67,"title":["Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor"],"prefix":"10.3390","volume":"15","author":[{"given":"Tianmiao","family":"Wang","sequence":"first","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yao","family":"Wu","sequence":"additional","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianhong","family":"Liang","sequence":"additional","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chenhao","family":"Han","sequence":"additional","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiao","family":"Chen","sequence":"additional","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiteng","family":"Zhao","sequence":"additional","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2015,4,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1087","DOI":"10.1109\/TRO.2009.2026506","article-title":"Kinematic modeling and analysis of skid-steered mobile robots with applications to low-cost inertial-measurement-unit-based motion estimation","volume":"25","author":"Yi","year":"2009","journal-title":"IEEE Trans. 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