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 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.

• Type: Conference
• Year: 2008
• Where: ICONS
• Authors: Naim Sidek, Nilanjan Sarkar
• Keywords: ICONS 2008, Mobile Robot, Nonholonomic Mobile Robots, Operating System, Slip Dynamics