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Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot
when subjected to wheel slip
Angleščina
108 b
Do 30 dni za vračilo
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Mehka
247.94
€
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Mehka
28.83
€
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 constraint generally used to model§nonholomic WMR. In this book, a new model is§presented to tackle the modeling inadequacy that§arises when slip is neglected by including both§longitudinal and lateral slip dynamics into the§overall dynamics of the WMR. The presented model§provides a realistic simulation scenario that can be§utilized to develop model-based controller to improve§WMR navigation. In particular, to demonstrate how§this model can be useful in developing model-based§planning and control of WMR with wheel slip, a§dynamic path-following controller is designed to§allow the WMR to navigate efficiently by autonomously§regulate its forward velocity based on the generated§traction force at the wheel-surface contact point.
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