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2008
IEEE

Dynamic Modeling and Control of Nonholonomic Mobile Robot with Lateral Slip

9 years 9 months ago
Dynamic Modeling and Control of Nonholonomic Mobile Robot with Lateral Slip
— 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.
Naim Sidek, Nilanjan Sarkar
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICONS
Authors Naim Sidek, Nilanjan Sarkar
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