DocumentCode
1611869
Title
Nonholonomic Wheeled Mobile Robot modeling and development
Author
Al-Khalidy, Mohammed Majed Mohammed
Author_Institution
Electr. & Electron. Dept., Gulf Univ., Sanad, Bahrain
fYear
2011
Firstpage
1
Lastpage
6
Abstract
The main contribution of this paper is to present and discusses a new approach for development of a kinematics model and control strategy for a Nonholonomic Wheeled Mobile Robot WMR. Dynamic model is involved, the linearization of the model is also presented, and stability analysis is discussed. Extensive simulation results for the proposed controller are presented.
Keywords
linearisation techniques; mobile robots; robot dynamics; robot kinematics; stability; dynamic model; kinematics model; model linearization; nonholonomic wheeled mobile robot modeling; stability analysis; Equations; Kinematics; Mathematical model; Mobile robots; Stability analysis; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Communications and Photonics Conference (SIECPC), 2011 Saudi International
Conference_Location
Riyadh
Print_ISBN
978-1-4577-0068-2
Electronic_ISBN
978-1-4577-0067-5
Type
conf
DOI
10.1109/SIECPC.2011.5876988
Filename
5876988
Link To Document