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TECHNICAL PAPERS

Verification of a Wheeled Mobile Robot Dynamic Model and Control Ramifications

[+] Author and Article Information
Daehie Hong

Department of Mechanical Engineering, Korea University, Seoul, Korea

Steven A. Velinsky, Xin Feng

Department of Mechanical & Aeronautical Engineering, University of California, Davis, Davis, CA 95616-5294

J. Dyn. Sys., Meas., Control 121(1), 58-63 (Mar 01, 1999) (6 pages) doi:10.1115/1.2802442 History: Received June 02, 1997; Online December 03, 2007

Abstract

For low speed, low acceleration, and lightly loaded applications, kinematic models of Wheeled Mobile Robots (WMRs) provide reasonably accurate results. However, as WMRs are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations. This paper includes experimental results for a heavy, differentially steered WMR for both loaded and unloaded conditions. These results are used to verify a recently developed dynamic model which includes a complex tire representation to accurately account for the tire/ground interaction. The dynamic model is then exercised to clearly show the inadequacy of kinematic models for high load and/or high speed conditions. Furthermore, through simulation, the failure of kinematic model based control for such applications is also shown.

Copyright © 1999 by The American Society of Mechanical Engineers
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