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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
