Exploiting wheel slips of mobile robots to improve navigation performance

Sidek, Shahrul Naim and Sarkar, Nilanjan (2013) Exploiting wheel slips of mobile robots to improve navigation performance. Advanced Robotics, 27 (8). pp. 627-639. ISSN 0169-1864

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Abstract

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 kinematic constraints generally used to model nonholonomic WMR. In this paper, a new method is proposed 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. This new model of the WMR provides a realistic simulation environment that can be utilized to develop model-based controllers to improve WMR navigation. In this paper, a dynamic planner with a path-following controller is designed to allow the WMR to navigate efficiently by autonomously regulating the generated traction force due to wheel slip. Extensive simulation results demonstrate the importance of the proposed modeling technique to capture slip phenomenon and the efficacy of the presented control technique to exploit such slip for better navigation performance.

Item Type:	Article (Journal)
Additional Information:	3028/30421
Uncontrolled Keywords:	nonholonomic wheeled mobile robot,wheel slip,path-following control,traction circle
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Nur' Aini Abu Bakar
Date Deposited:	11 Jun 2013 15:07
Last Modified:	25 Jun 2013 12:15
URI:	http://irep.iium.edu.my/id/eprint/30421

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