Verification of a wheeled mobile robot dynamic model and control ramifications

Daehie Hong, Steven A. Velinsky, Xin Feng

Research output: Contribution to journalArticle

16 Citations (Scopus)

Abstract

For low speed, low acceleration, and lightly loaded applications, kinematic models of Wheeled Mobile Robots (WMRs) provide reasonably accurate results. However, as WMRs are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations. This paper includes experimental results for a heavy, differentially steered WMR for both loaded and unloaded conditions. These results are used to verify a recently developed dynamic model which includes a complex tire representation to accurately account for the tire/ground interaction. The dynamic model is then exercised to clearly show the inadequacy of kinematic models for high load and/or high speed conditions. Furthermore, through simulation, the failure of kinematic model based control for such applications is also shown.

Original languageEnglish
Pages (from-to)58-63
Number of pages6
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume121
Issue number1
Publication statusPublished - 1999 Mar 1

Fingerprint

robot dynamics
dynamic control
dynamic models
Mobile robots
Dynamic models
Kinematics
kinematics
robots
tires
Tires
high speed
low speed
simulation
interactions

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Instrumentation

Cite this

Verification of a wheeled mobile robot dynamic model and control ramifications. / Hong, Daehie; Velinsky, Steven A.; Feng, Xin.

In: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 121, No. 1, 01.03.1999, p. 58-63.

Research output: Contribution to journalArticle

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