Exploiting wheel slips of mobile robots to improve navigation performance

• Main Authors: Sidek, Shahrul Naim, Sarkar, Nilanjan
• 格式: Article
• 語言: English
• 出版: Robotic Society of japan 2013
• 主題: TA Engineering (General). Civil engineering (General)
• 在線閱讀: http://irep.iium.edu.my/30421/1/Exploiting_Wheel_Slips.pdf; http://irep.iium.edu.my/30421/; http://dx.doi.org/10.1080/01691864.2013.763752

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...