Abstract
This work presents a kinematic modeling method for wheeled mobile robots with slip based on physical principles. First, we present the kinematic modeling of a mobile robot with no-slip considering four types of wheels: fixed, centered orientable, off-centered orientable (castor) and Swedish (also called Mecanum, Ilon or universal). Then, the dynamics of a wheeled mobile robot based on Lagrange formulation are derived and discussed. Next, a quasi-static motion is considered to obtain the kinematic conditions that provide the slip modeling equations. Several types of traction models for the slip between the wheel and the floor are indicated. In particular, for a frictional force linearly dependent on the sliding velocity, the no-slip kinematic equation of the wheeled mobile robot is related, through the weighted least-squares algorithm, with the slip modeling equations. To illustrate the applications of the proposed approach a tricycle vehicle is considered in a real situation. The experimental results obtained for the slip kinematic model are compared with the ones obtained for the well-known Kalman filter.
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