Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics

• Main Authors: Yu, Tian, Sidek, Shahrul Na'im, Sarkar , Nilanjan
• Format: Conference or Workshop Item
• Language: English
• Published: 2010
• Subjects: TL Motor vehicles. Aeronautics. Astronautics
• Online Access: http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf; http://irep.iium.edu.my/12827/
• Institution: Universiti Islam Antarabangsa Malaysia

In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamic...