Dynamic Modeling and Control of Nonholonomic Mobile Robot with Lateral Slip

Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic model is useful to understand the slip characteristics during navigation of the WMR. We further design a planner and a controller that allow efficient navigation of the WMR by controlling the slip. Preliminary simulation results are presented to demonstrate the usefulness of the proposed modeling and control techniques.

[1]  Fei-Yue Wang,et al.  Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control , 2006, IEEE Transactions on Intelligent Transportation Systems.

[2]  Martial Hebert,et al.  Natural terrain classification using 3-d ladar data , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[3]  Pietro Perona,et al.  Learning to predict slip for ground robots , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[4]  Nilanjan Sarkar,et al.  Unified formulation of robotic systems with holonomic and nonholonomic constraints , 1998, IEEE Trans. Robotics Autom..

[5]  Karl Iagnemma,et al.  Model-Based Wheel Slip Detection for Outdoor Mobile Robots , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[6]  Karl Iagnemma,et al.  Vibration-based terrain classification for planetary exploration rovers , 2005, IEEE Transactions on Robotics.

[7]  Zixing Cai,et al.  Robust Tracking Control of Wheeled Mobile Robots Not Satisfying Nonholonomic Constraints , 2006, Sixth International Conference on Intelligent Systems Design and Applications.

[8]  Sunglok Choi,et al.  Nonlinear Slip Dynamics for an Omniwheel Mobile Robot Platform , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[9]  Andreas Zell,et al.  Vibration-based Terrain Classification Using Support Vector Machines , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Guy Campion,et al.  A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints , 2000, IEEE Trans. Robotics Autom..

[11]  Kazuya Yoshida,et al.  Path Planning for Planetary Exploration Rovers and Its Evaluation based on Wheel Slip Dynamics , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[12]  Mahmoud Tarokh,et al.  Kinematics modeling and analyses of articulated rovers , 2005, IEEE Transactions on Robotics.

[13]  L. Dubins.  On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents , 1957 .

[14]  J. Stephant,et al.  Sideslip angle, lateral tire force and road friction estimation in simulations and experiments , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[15]  Seul Jung,et al.  Explicit lateral force control of an autonomous mobile robot with slip , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.