Dynamic modeling and control of nonholonomic mobile robot with lateral slip

Authors:
Naim Sidek;Nilanjan Sarkar
Affiliations:
Department of Electrical Engineering, Vanderbilt University, Nashville, TN;Department of Electrical Engineering, Vanderbilt University, Nashville, TN
Venue:
ISPRA'08 Proceedings of the 7th WSEAS International Conference on Signal Processing, Robotics and Automation
Year:
2008

Citing 4
Cited 0

Robust Tracking Control of Wheeled Mobile Robots Not Satisfying Nonholonomic Constraints

ISDA '06 Proceedings of the Sixth International Conference on Intelligent Systems Design and Applications - Volume 02
Kinematics Modeling and Analyses of Articulated Rovers

IEEE Transactions on Robotics
Vibration-based terrain classification for planetary exploration rovers

IEEE Transactions on Robotics
Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control

IEEE Transactions on Intelligent Transportation Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

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.