Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip
Improving navigation performance of autonomous wheeled mobile robot (WMR) in a dynamic unstructured environment requires improved maneuverability. In such cases, the dynamics of wheel slip may violate the ideal no-slip kinematic constraints generally used to model nonholonomic WMR. In this disserta...
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
VDM Verlag
2009
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/2160/ http://irep.iium.edu.my/2160/1/Dynamic_Modeling_and_Control_of_Nonholonomic_Wheeled_Mobile_Robot-_when_subjected_to_wheel_slip.pdf |
| id |
iium-2160 |
|---|---|
| recordtype |
eprints |
| spelling |
iium-21602015-09-17T03:03:06Z http://irep.iium.edu.my/2160/ Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip Sidek, Shahrul Na'im Sarkar, Nilanjan TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Improving navigation performance of autonomous wheeled mobile robot (WMR) in a dynamic unstructured environment requires improved maneuverability. In such cases, the dynamics of wheel slip may violate the ideal no-slip kinematic constraints generally used to model nonholonomic WMR. In this dissertation, a new model is proposed to tackle the modeling inadequacy that arises when slip is neglected by including both longitudinal and lateral slip dynamics into the overall dynamics of the WMR. The presented model of the WMR provides a realistic simulation scenario that can be utilized to develop model-based controllers to improve WMR navigation. In particular, to demonstrate how this model can be useful in developing modelbased planning and control of WMR with wheel slip, a dynamic path-following controller is designed to allow the WMR to navigate efficiently by autonomously regulate its forward velocity based on the generated traction force at the wheel-surface contact point. Extensive simulation results show the importance of the proposed modeling technique to capture slip phenomenon and the efficacy of the presented control technique to exploit such slip for better navigation performance. In addition, through experiments, the dynamics of slip in the system model has beenb verified. VDM Verlag 2009 Book PeerReviewed application/pdf en http://irep.iium.edu.my/2160/1/Dynamic_Modeling_and_Control_of_Nonholonomic_Wheeled_Mobile_Robot-_when_subjected_to_wheel_slip.pdf Sidek, Shahrul Na'im and Sarkar, Nilanjan (2009) Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip. VDM Verlag, Verlag. ISBN 9783639139150 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English |
| topic |
TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics |
| spellingShingle |
TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Sidek, Shahrul Na'im Sarkar, Nilanjan Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip |
| description |
Improving navigation performance of autonomous wheeled mobile robot (WMR) in a dynamic unstructured environment requires improved maneuverability. In such cases, the dynamics of wheel slip may violate the ideal no-slip kinematic constraints generally used to model
nonholonomic WMR. In this dissertation, a new model is proposed to tackle the modeling inadequacy that arises when slip is neglected by including both longitudinal and lateral slip dynamics into the overall dynamics of the WMR. The presented model of the WMR provides a realistic simulation scenario that can be utilized to develop model-based controllers to improve WMR navigation. In particular, to demonstrate how this model can be useful in developing modelbased planning and control of WMR with wheel slip, a dynamic path-following controller is designed to allow the WMR to navigate efficiently by autonomously regulate its forward velocity based on the generated traction force at the wheel-surface contact point. Extensive simulation
results show the importance of the proposed modeling technique to capture slip phenomenon and the efficacy of the presented control technique to exploit such slip for better navigation performance. In addition, through experiments, the dynamics of slip in the system model has beenb verified. |
| format |
Book |
| 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 wheeled mobile robot: when subjected to wheel slip |
| title_short |
Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip |
| title_full |
Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip |
| title_fullStr |
Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip |
| title_full_unstemmed |
Dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip |
| title_sort |
dynamic modeling and control of nonholonomic wheeled mobile robot: when subjected to wheel slip |
| publisher |
VDM Verlag |
| publishDate |
2009 |
| url |
http://irep.iium.edu.my/2160/ http://irep.iium.edu.my/2160/1/Dynamic_Modeling_and_Control_of_Nonholonomic_Wheeled_Mobile_Robot-_when_subjected_to_wheel_slip.pdf |
| first_indexed |
2023-09-18T20:09:42Z |
| last_indexed |
2023-09-18T20:09:42Z |
| _version_ |
1777407394693775360 |