Verification of a wlieeled 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are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations.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
DOIs
Publication statusPublished - 1999 Mar

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Verification of a wlieeled mobile robot dynamic model and control ramifications'. Together they form a unique fingerprint.

  • Cite this