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...

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Main Authors:	Sidek, Shahrul Na'im, Sarkar, Nilanjan
Format:	Conference or Workshop Item
Language:	English
Published:	2008
Subjects:	TA168 Systems engineering
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

id	iium-22604
recordtype	eprints
spelling	iium-226042019-01-10T05:10:30Z http://irep.iium.edu.my/22604/ Dynamic modeling and control of nonholonomic mobile robot with lateral slip Sidek, Shahrul Na'im Sarkar, Nilanjan TA168 Systems engineering 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. 2008 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/22604/1/ICONS_WMR_with_lateral_slip.pdf Sidek, Shahrul Na'im and Sarkar, Nilanjan (2008) Dynamic modeling and control of nonholonomic mobile robot with lateral slip. In: Third International Conference on Systems 2008 (ICONS 08), 13-14 Apr 2008, Cancun, Mexico. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4497093
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA168 Systems engineering
spellingShingle	TA168 Systems engineering Sidek, Shahrul Na'im Sarkar, Nilanjan Dynamic modeling and control of nonholonomic mobile robot with lateral slip
description	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.
format	Conference or Workshop Item
author	Sidek, Shahrul Na'im Sarkar, Nilanjan
author_facet	Sidek, Shahrul Na'im Sarkar, Nilanjan
author_sort	Sidek, Shahrul Na'im
title	Dynamic modeling and control of nonholonomic mobile robot with lateral slip
title_short	Dynamic modeling and control of nonholonomic mobile robot with lateral slip
title_full	Dynamic modeling and control of nonholonomic mobile robot with lateral slip
title_fullStr	Dynamic modeling and control of nonholonomic mobile robot with lateral slip
title_full_unstemmed	Dynamic modeling and control of nonholonomic mobile robot with lateral slip
title_sort	dynamic modeling and control of nonholonomic mobile robot with lateral slip
publishDate	2008
url	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
first_indexed	2023-09-18T20:34:24Z
last_indexed	2023-09-18T20:34:24Z
_version_	1777408949176238080

Dynamic modeling and control of nonholonomic mobile robot with lateral slip

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