Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Cleaning accumulated dusts inside air ventilation ducts of underground facilities is an essential process to improve indoor air quality, especially at the underground facilities such as subway platforms. Therefore, various autonomous mobile duct cleaning robots have been actively studied to be applied at the closed space of the ventilation duct. , the four wheeled skid steering mobile platform with rotating brush-arms has been developed and proposed an effective skid steering control technique under changeable center of mass (CM) of the platform. The shifted CM of the platform and unstable disturbances acting on the rotating brushes from cleaning surfaces can change the dynamic steering characteristics of the platform. Therefore, this paper also proposes a new integrated backstepping and I-PD controller for stable trajectory tracking of the platform and proves the effects of the controller through simulations.
['Seungwoo Jeon Jeon', 'Wootae Jeong', 'Soon-Bark Kwon', 'Cheul-Kyu Lee', 'Duckshin Park']
I am writing a research paper on a idea A Trajectory Tracking Control of a Skid Steered Mobile Cleaning Robot
[{"from": "human", "value": "I am writing a research paper on a idea A Trajectory Tracking Control of a Skid Steered Mobile Cleaning Robot"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Cleaning accumulated dusts inside air ventilation ducts of underground facilities is an essential process to improve indoor air quality, especially at the underground facilities such as subway platforms. Therefore, various autonomous mobile duct cleaning robots have been actively studied to be applied at the closed space of the ventilation duct. , the four wheeled skid steering mobile platform with rotating brush-arms has been developed and proposed an effective skid steering control technique under changeable center of mass (CM) of the platform. The shifted CM of the platform and unstable disturbances acting on the rotating brushes from cleaning surfaces can change the dynamic steering characteristics of the platform. Therefore, this paper also proposes a new integrated backstepping and I-PD controller for stable trajectory tracking of the platform and proves the effects of the controller through simulations."}]