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Book synopsis

Improving navigation performance of autonomous§wheeled mobile robot (WMR) in a dynamic, unstructured§environment requires improved maneuverability. In§such cases, the dynamics of wheel slip may violate§the ideal no-slip constraint generally used to model§nonholomic WMR. In this book, a new model is§presented to tackle the modeling inadequacy that§arises when slip is neglected by including both§longitudinal and lateral slip dynamics into the§overall dynamics of the WMR. The presented model§provides a realistic simulation scenario that can be§utilized to develop model-based controller to improve§WMR navigation. In particular, to demonstrate how§this model can be useful in developing model-based§planning and control of WMR with wheel slip, a§dynamic path-following controller is designed to§allow the WMR to navigate efficiently by autonomously§regulate its forward velocity based on the generated§traction force at the wheel-surface contact point.

Book details

• Full title: Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot
• Subtitle: when subjected to wheel slip
• Author: Naim Sidek
• Language: English
• Binding: Paperback
• Number of pages: 92
• EAN: 9783639139150
• ID: 06822563
• Publisher: VDM Verlag Dr. Müller
• Dimensions: 223 × 154 × 10 mm
• Published: 2009

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