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Dynamic modeling and control of nonholonomic mobile robot with lateral slip

Sidek, Shahrul Na'im and Sarkar, Nilanjan (2008) Dynamic modeling and control of nonholonomic mobile robot with lateral slip. In: Third International Conference on Systems 2008 (ICONS 08), 13-14 Apr 2008, Cancun, Mexico.

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Abstract

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.

Item Type: Conference or Workshop Item (Other)
Additional Information: 3028/22604 (Print ISBN: 978-0-7695-3105-2)
Uncontrolled Keywords: lateral slip , mobile robot , nonholonomic constraint , path following
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Shahrul Naim Sidek
Date Deposited: 02 Apr 2012 11:34
Last Modified: 10 Jan 2019 13:10
URI: http://irep.iium.edu.my/id/eprint/22604

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