Shahrood University of Technology Journal of Solid and Fluid Mechanics 2251-9475 7 4 2017 12 22 Optimal Control of Skid Steer Wheeled Mobile Robots by Analytical Approach Optimal Control of Skid Steer Wheeled Mobile Robots by Analytical Approach 135 145 1204 10.22044/jsfm.2017.3296.1950 FA M. Parhikhteh O. Mohammadpour A. Tavasoli Journal Article 2015 10 06 This paper considers optimal control of skid steer wheeled mobile robots. Due to high energy consumption of skid steer wheeled mobile robots, which results from side slip of wheels in rotational maneuvers, additional studies on energy-efficient optimal control of skid steer robots seems mandatory. So, in this research, kinematic and dynamic modeling of skid steer mobile robot is presented in first. After that, electrical modeling of robot motors is expressed and an objective function, which is the robot energy consumption, introduces based on the system model. Then, to define and solve the optimal control problem, system’s Hamiltonian is formed and with the help of Hamilton’s principle, the optimal velocity profile of robot’s motion is calculated analytically to reduce energy consumption. Simulation results show the superiority of the proposed approach in this study and significant saving in energy consumption of robots in comparison to an optimal PD controller. Simulation results show the superiority of the proposed approach in this study and significant saving in energy consumption of robots in comparison to an optimal PD controller. This paper considers optimal control of skid steer wheeled mobile robots. Due to high energy consumption of skid steer wheeled mobile robots, which results from side slip of wheels in rotational maneuvers, additional studies on energy-efficient optimal control of skid steer robots seems mandatory. So, in this research, kinematic and dynamic modeling of skid steer mobile robot is presented in first. After that, electrical modeling of robot motors is expressed and an objective function, which is the robot energy consumption, introduces based on the system model. Then, to define and solve the optimal control problem, system’s Hamiltonian is formed and with the help of Hamilton’s principle, the optimal velocity profile of robot’s motion is calculated analytically to reduce energy consumption. Simulation results show the superiority of the proposed approach in this study and significant saving in energy consumption of robots in comparison to an optimal PD controller. Simulation results show the superiority of the proposed approach in this study and significant saving in energy consumption of robots in comparison to an optimal PD controller. https://jsfm.shahroodut.ac.ir/article_1204_22ce7b2d7f3d40c09d6c7b54dc1ea127.pdf