Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance

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 paper,...

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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/22607/ http://irep.iium.edu.my/22607/ http://irep.iium.edu.my/22607/1/icom08_fullpaper_Naim.pdf

id	iium-22607
recordtype	eprints
spelling	iium-226072019-01-10T05:10:47Z http://irep.iium.edu.my/22607/ Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance Sidek, Shahrul Na'im Sarkar, Nilanjan TA168 Systems engineering 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 paper, a new method 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 new model provides a realistic simulation environment that can be utilized to develop a better model-based controller to improve WMR navigation especially when the WMR is to be driven autonomously at high speed on unstructured environment. We argue that wheel slip is an important factor that can impact WMR navigation performance in such an application. 2008 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/22607/1/icom08_fullpaper_Naim.pdf Sidek, Shahrul Na'im and Sarkar, Nilanjan (2008) Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance. In: 3rd International Conference on Mechatronics (ICOM 08), 18-20 Dec 2008, Kuala Lumpur. http://research.vuse.vanderbilt.edu/rasl/icom08_fullpaper_Naim.pdf
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 Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
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 paper, a new method 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 new model provides a realistic simulation environment that can be utilized to develop a better model-based controller to improve WMR navigation especially when the WMR is to be driven autonomously at high speed on unstructured environment. We argue that wheel slip is an important factor that can impact WMR navigation performance in such an application.
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	Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
title_short	Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
title_full	Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
title_fullStr	Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
title_full_unstemmed	Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
title_sort	inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance
publishDate	2008
url	http://irep.iium.edu.my/22607/ http://irep.iium.edu.my/22607/ http://irep.iium.edu.my/22607/1/icom08_fullpaper_Naim.pdf
first_indexed	2023-09-18T20:34:24Z
last_indexed	2023-09-18T20:34:24Z
_version_	1777408949474033664

Inclusion of wheel slips in mobile robot modelling to enhance robot simulator performance

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