Title :
Dynamics and Control of a Wheeled Mobile Robot
Author :
Deng, Zhongping ; Brady, Michael
Author_Institution :
Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, U.K.; Visiting scholar, Department of Engineering Mechanics, Tsinghua University, Beijing 100084, P.R. China.
Abstract :
A dynamic model for a wheeled mobile robot (WMR) is developed, in which kinematic constraints are derived from an analysis of the motion, and the dynamic equations are derived using the Lagrangian. The non-holonomic constraints on the system are presented. A control model of the motion of the system is given and feedback linearisation is applied to this control model. Examples are presented that demonstrate the effectiveness of the model and the control method.
Keywords :
Equations; Feedback; Kinematics; Lagrangian functions; Mobile robots; Motion control; Robot control; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
