Comprehensive study of skid-steer wheeled mobile robots: development and challenges

• Published in: Industrial robot Vol. 48; no. 1; pp. 142 - 156
• Main Authors: Khan, Rameez, Malik, Fahad Mumtaz, Raza, Abid, Mazhar, Naveed
• Format: Journal Article
• Language: English
• Published: Bedford Emerald Group Publishing Limited 19.03.2021
• Subjects: Energy consumption; Locomotion; Maneuverability; Navigation; Popularity; Robot dynamics; Robotics; Robots; Skid steering; Wheels
• ISSN: 0143-991X; 0143-991X; 1758-5791
• DOI: 10.1108/IR-04-2020-0082

PurposeThe 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/approachMost 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.FindingsRelying on the recent literature on SSWMR, research gaps are identified that should be analyzed for the development of autonomous skid-steer wheeled robots.Originality/valueAn attempt to present a comprehensive review of recent advancements in the field of WMRs and providing references to the most intriguing studies.