Malfi, Pierangelo (2025) Study, modeling, and experimentation of skid-steering mobile robots. [Tesi di dottorato]

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Abstract

This PhD thesis investigates methods to enhance the maneuverability of six-wheeled skid-steering rovers equipped with rocker–bogie suspensions, with particular attention to turning maneuverability and obstacle-crossing performance. The research combines analytical modeling, mechanical design, dynamic simulation, and experimental validation. The first research axis introduces three trajectory planning strategies, developed within this PhD work, aimed at improving turning accuracy and minimizing energy losses during skid-steering. Among them, the Elliptical Drive Logic (EDL) represents a trajectory planner that enables distinct parametrization for the movement of each axle along the path assigned by the path planner. Both simulation and experimental results demonstrate enhanced accuracy in turning maneuvers applying this novel technique. In parallel, structural analyses demonstrated that turning maneuverability can be enhanced through minor mechanical modifications, improving the steering response of the rover without increasing overall system complexity. The second research axis addresses obstacle-crossing behavior by comparing rocker-front and bogie-front configurations to assess their impact on stability and climbing sequence. Building on these results, a simplified strategy was developed in which a lightweight robotic arm actively shifts the rover’s center of gravity to assist climbing maneuvers, improving obstacle-negotiation capability without altering the rocker–bogie architecture. Complementary studies conducted during visiting periods at the University of Udine and Universidad Nebrija in Madrid broadened the scope of the work toward perception and navigation, including LiDAR-based SLAM for cooperative rover mapping and IMU-based sensor fusion to improve autonomous driving algorithms. The methodological approach adopted in this thesis ensures that each phase of the research contributes coherently to improving the maneuverability of six-wheeled skid-steering rovers. The findings offer practical insights that can guide future implementations of autonomous and field robotic systems.

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