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In this paper problem of modeling and control of 4-wheel skid-steering mobile robot is presented. To obtain practical stabilization for both admissible and non-admissib le trajectories [13, 7, 8], i.e. trajectories which do not satisfy nonholonomic constraint, control scheme which is based on kinematic algorithm [4, 5] is proposed. Theoretical con siderations are verified by numerical Skid-Steer Wheeled Mobile Robots Sadegh Rabiee1 and Joydeep Biswas1 Abstract—Skid-steer drive systems are widely used in mobile robot platforms. Such systems are subject to significant slippage and skidding during normal operation due to their nature. The ability to predict and compensate for such slippages in Figure 1. 4-Wheel Skid Steering Mobile Robot. Abstract . T his paper studies a fault tolerant control strategy for a four wheel skid steering mobile robot (SSMR). Through this work the fault diagnosis procedure is accomplished using structural anal y-sis technique while fault accommodation is based on a Recursive Least Squares (RLS) approxim a- Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels - Volume 30 Issue 1. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button. This paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, KKozlowski, D. Pazderskid Practical Stabilization of a Skid-steering Mobile Robot-AKinematic-basedApproach and calculate the resultant reactive force as III. CONTROLDEVELOPMENT A for XICR C Xoutl A. Kinematic modelreformulation |FB for XICR -a Recalling kinematic equation (1) one can write that 1nFDFE forfor XICR-Xi (10) Cos 0 1-sin01 XICR CXout2 sin 0 Cg + Los 0 Y (I9) where Accordingly