DocumentCode
1980660
Title
Wheel rolling constraints and slip in mobile robots
Author
Shekhar, Shashank
Volume
3
fYear
1997
fDate
20-25 Apr 1997
Firstpage
2601
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.619353
Filename
619353
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