Dynamic Modeling and Power Modeling of Robotic Skid-Steered Wheeled Vehicles

Dynamic models and power models of autonomous ground vehicles are needed to enable realistic motion planning Howard & Kelly (2007); Yu et al. (2010) in unstructured, outdoor environments that have substantial changes in elevation, consist of a variety of terrain surfaces, and/or require frequent accelerations and decelerations. At least 4 different motion planning tasks can be accomplished using appropriate dynamic and power models: