Title :
Wheel rolling constraints and slip in mobile robots
Author :
Shekhar, Shashank
Abstract :
It is widely accepted that dead reckoning based on the rolling with no slip condition on wheels is not a reliable method to ascertain the position and orientation of a mobile robot for any reasonable distance. We establish that wheel slip is inevitable under the dynamic model of motion using classical results on the accessibility and controllability in nonlinear control theory and an analytical model of rolling of two linearly elastic bodies
Keywords :
controllability; mobile robots; motion control; nonlinear control systems; robot dynamics; robot kinematics; accessibility; controllability; dead reckoning; dynamic model; elastic bodies; kinematics; mobile robots; nonlinear control; slip; wheel rolling constraints; Analytical models; Concrete; Control theory; Controllability; Dead reckoning; Mobile robots; Motion analysis; Nonlinear equations; Rubber; Wheels;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619353
