Modeling and control of a nonholonomic wheeled mobile robot
with wheel slip dynamics

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Modeling and control of a 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 rolling 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:	Tian, Yu, Sidek, Shahrul Na'im, Sarkar, Nilanjan
Format:	Proceeding Paper
Language:	English
Published:	2009
Subjects:	TA168 Systems engineering
Online Access:	http://irep.iium.edu.my/22600/ http://irep.iium.edu.my/22600/1/CICA2009_WMR_modeling_and_control.pdf

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