Dynamic modeling and drift control of high-speed wheel mobile robot

Drift control for high-speed mobile robot is one of problems in the development of mobile robot technology. In this paper, the dynamic model of wheel mobile robot under high-speed drift condition is studied. And then, the dynamic model is approximated. Subsequently, a drift controller is designed based on the thought of feedback linearization, which controller has good dynamic response performance. In order to obtain the high real-time global position and velocity information, which is necessary in the drift controller, the position velocity measurement unit (PVU) is developed and implemented. Finally, PVU and the drift controller were validated by experiment in the MATLAB simulation environment.