Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot : when subjected to wheel slip

ISBN-13: 9783639139150 / Angielski / Miękka / 2009 / 92 str.

Naim Sidek

Opis

Improving navigation performance of autonomouswheeled mobile robot (WMR) in a dynamic, unstructuredenvironment requires improved maneuverability. Insuch cases, the dynamics of wheel slip may violatethe ideal no-slip constraint generally used to modelnonholomic WMR. In this book, a new model ispresented to tackle the modeling inadequacy thatarises when slip is neglected by including bothlongitudinal and lateral slip dynamics into theoverall dynamics of the WMR. The presented modelprovides a realistic simulation scenario that can beutilized to develop model-based controller to improveWMR navigation. In particular, to demonstrate howthis model can be useful in developing model-basedplanning and control of WMR with wheel slip, adynamic path-following controller is designed toallow the WMR to navigate efficiently by autonomouslyregulate its forward velocity based on the generatedtraction force at the wheel-surface contact point.

O autorze

Naim Sidek is a faculty member of Department of Mechatronics
Engineering at IIUM, Malaysia. He received his Ph.D degree in
2008 from Vanderbilt University, USA, where Nilanjan Sarkar
served as his advisor. His current research interests are
modeling and control of nonholonomic robotic systems, and human-
machine system applications.