Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics

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Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics

In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamic...

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Bibliographic Details
Main Authors:	Yu, Tian, Sidek, Shahrul Na'im, Sarkar , Nilanjan
Format:	Proceeding Paper
Language:	English
Published:	2010
Subjects:	TL Motor vehicles. Aeronautics. Astronautics
Online Access:	http://irep.iium.edu.my/12827/ http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf

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