Title :
Nonholonomic Wheeled Mobile Robot modeling and development
Author :
Al-Khalidy, Mohammed Majed Mohammed
Author_Institution :
Electr. & Electron. Dept., Gulf Univ., Sanad, Bahrain
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;
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
DOI :
10.1109/SIECPC.2011.5876988
