Dynamic modeling and control of nonholonomic mobile robot with lateral slip
Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic mode...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/22604/ http://irep.iium.edu.my/22604/ http://irep.iium.edu.my/22604/1/ICONS_WMR_with_lateral_slip.pdf |
| Summary: | Nonholonomic mobile robots are characterized by
no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic model is useful to understand the slip characteristics during navigation of the WMR. We further design a planner and a controller that allow efficient navigation of the WMR by controlling the slip. Preliminary simulation results are presented to demonstrate the usefulness of the proposed modeling and control techniques. |
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