Exploiting wheel slips of mobile robots to improve navigation 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, a...

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Main Authors:	Sidek, Shahrul Naim, Sarkar, Nilanjan
Format:	Article
Language:	English
Published:	Robotic Society of japan 2013
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://irep.iium.edu.my/30421/ http://irep.iium.edu.my/30421/ http://irep.iium.edu.my/30421/ http://irep.iium.edu.my/30421/1/Exploiting_Wheel_Slips.pdf

id	iium-30421
recordtype	eprints
spelling	iium-304212013-06-25T04:15:01Z http://irep.iium.edu.my/30421/ Exploiting wheel slips of mobile robots to improve navigation performance Sidek, Shahrul Naim Sarkar, Nilanjan TA Engineering (General). Civil engineering (General) 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. This new model of the WMR provides a realistic simulation environment that can be utilized to develop model-based controllers to improve WMR navigation. In this paper, a dynamic planner with a path-following controller is designed to allow the WMR to navigate efficiently by autonomously regulating the generated traction force due to wheel slip. Extensive simulation results demonstrate 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. Robotic Society of japan 2013-04 Article PeerReviewed application/pdf en http://irep.iium.edu.my/30421/1/Exploiting_Wheel_Slips.pdf Sidek, Shahrul Naim and Sarkar, Nilanjan (2013) Exploiting wheel slips of mobile robots to improve navigation performance. Advanced Robotics, 27 (8). pp. 627-639. ISSN 0169-1864 http://dx.doi.org/10.1080/01691864.2013.763752 doi:10.1080/01691864.2013.763752
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Sidek, Shahrul Naim Sarkar, Nilanjan Exploiting wheel slips of mobile robots to improve navigation 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. This new model of the WMR provides a realistic simulation environment that can be utilized to develop model-based controllers to improve WMR navigation. In this paper, a dynamic planner with a path-following controller is designed to allow the WMR to navigate efficiently by autonomously regulating the generated traction force due to wheel slip. Extensive simulation results demonstrate 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.
format	Article
author	Sidek, Shahrul Naim Sarkar, Nilanjan
author_facet	Sidek, Shahrul Naim Sarkar, Nilanjan
author_sort	Sidek, Shahrul Naim
title	Exploiting wheel slips of mobile robots to improve navigation performance
title_short	Exploiting wheel slips of mobile robots to improve navigation performance
title_full	Exploiting wheel slips of mobile robots to improve navigation performance
title_fullStr	Exploiting wheel slips of mobile robots to improve navigation performance
title_full_unstemmed	Exploiting wheel slips of mobile robots to improve navigation performance
title_sort	exploiting wheel slips of mobile robots to improve navigation performance
publisher	Robotic Society of japan
publishDate	2013
url	http://irep.iium.edu.my/30421/ http://irep.iium.edu.my/30421/ http://irep.iium.edu.my/30421/ http://irep.iium.edu.my/30421/1/Exploiting_Wheel_Slips.pdf
first_indexed	2023-09-18T20:44:34Z
last_indexed	2023-09-18T20:44:34Z
_version_	1777409589069742080

Exploiting wheel slips of mobile robots to improve navigation performance

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