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Dynamic Modeling and Control of Nonholonomic Mobile Robot with Lateral Slip

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2 Author(s)
Sidek, N. ; Electr. Eng. Dept., Vanderbilt Univ., Nashville, TN ; Sarkar, N.

Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic model is useful to understand the slip characteristics during navigation of the WMR. We further design a planner and a controller that allow efficient navigation of the WMR by controlling the slip. Preliminary simulation results are presented to demonstrate the usefulness of the proposed modeling and control techniques.

Published in:

Systems, 2008. ICONS 08. Third International Conference on

Date of Conference:

13-18 April 2008