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Modeling of Slip for Wheeled Mobile Robots

Balakrishna, R and Ghosal, Ashitava (1995) Modeling of Slip for Wheeled Mobile Robots. In: IEEE Transactions on Robotics and Automation, 11 (1). pp. 126-132.


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Wheeled Mobile Robots (WMRs) are known to be nonholonomic systems, and most dynamic models of WMRs assume that the wheels undergo rolling without slipping. This paper deals with the problem of modeling and simulation of motion of a WMR when the conditions for rolling are not satisfied at the wheels. We use a traction model where the adhesion coefficient between the wheels of a WMR and a hard flat surface is a function of the wheel slip. This traction model is used in conjunction with the dynamic equations of motion to simulate the motion of the WMR. The simulations show that controllers which do not take into account wheel slip give poor tracking performance for the WMR and path deviation is small only for large adhesion coefficients. This work shows the importance of wheel slip and suggests use of accurate traction models for improving tracking performance of a WMR.

Item Type: Journal Article
Publication: IEEE Transactions on Robotics and Automation
Publisher: IEEE
Additional Information: Copyright 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Keywords: Wheeled Mobile Robots;Slip;Modeling;Traction;Adhesion
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 29 Jun 2007
Last Modified: 19 Sep 2010 04:35
URI: http://eprints.iisc.ac.in/id/eprint/10028

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