Modeling and control of a nonholonomic wheeled mobile robot with wheel slip dynamics
In order to model a Wheeled Mobile Robot(WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper,wheel dynamics with slip is modeled and introduced into the robot overall dynamic...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf |