Dynamic modeling and control of nonholonomic mobile robot with lateral slip
Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic mode...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/22604/ http://irep.iium.edu.my/22604/1/ICONS_WMR_with_lateral_slip.pdf |
| _version_ | 1848779031668850688 |
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| author | Sidek, Shahrul Na'im Sarkar, Nilanjan |
| author_facet | Sidek, Shahrul Na'im Sarkar, Nilanjan |
| author_sort | Sidek, Shahrul Na'im |
| building | IIUM Repository |
| collection | Online Access |
| description | Nonholonomic mobile robots are characterized by
no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic model is useful to understand the slip characteristics during navigation of the WMR. We further design a planner and a controller that allow efficient navigation of the WMR by controlling the slip. Preliminary simulation results are presented to demonstrate the usefulness of the proposed modeling and control techniques. |
| first_indexed | 2025-11-14T15:11:19Z |
| format | Proceeding Paper |
| id | iium-22604 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:11:19Z |
| publishDate | 2008 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-226042019-01-10T05:10:30Z http://irep.iium.edu.my/22604/ Dynamic modeling and control of nonholonomic mobile robot with lateral slip Sidek, Shahrul Na'im Sarkar, Nilanjan TA168 Systems engineering Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic model is useful to understand the slip characteristics during navigation of the WMR. We further design a planner and a controller that allow efficient navigation of the WMR by controlling the slip. Preliminary simulation results are presented to demonstrate the usefulness of the proposed modeling and control techniques. 2008 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/22604/1/ICONS_WMR_with_lateral_slip.pdf Sidek, Shahrul Na'im and Sarkar, Nilanjan (2008) Dynamic modeling and control of nonholonomic mobile robot with lateral slip. In: Third International Conference on Systems 2008 (ICONS 08), 13-14 Apr 2008, Cancun, Mexico. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4497093 |
| spellingShingle | TA168 Systems engineering Sidek, Shahrul Na'im Sarkar, Nilanjan Dynamic modeling and control of nonholonomic mobile robot with lateral slip |
| title | Dynamic modeling and control of nonholonomic mobile robot with lateral slip |
| title_full | Dynamic modeling and control of nonholonomic mobile robot with lateral slip |
| title_fullStr | Dynamic modeling and control of nonholonomic mobile robot with lateral slip |
| title_full_unstemmed | Dynamic modeling and control of nonholonomic mobile robot with lateral slip |
| title_short | Dynamic modeling and control of nonholonomic mobile robot with lateral slip |
| title_sort | dynamic modeling and control of nonholonomic mobile robot with lateral slip |
| topic | TA168 Systems engineering |
| url | http://irep.iium.edu.my/22604/ http://irep.iium.edu.my/22604/ http://irep.iium.edu.my/22604/1/ICONS_WMR_with_lateral_slip.pdf |