Wheel rolling constraints and slip in mobile robots
Wheel rolling constraints and slip in mobile robots
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.
- University of North Texas System United States
- Oak Ridge National Laboratory United States
Consumption, Rolling, Mathematical Models, Control Systems, Rolling Friction, Slip, 42 Engineering Not Included In Other Categories, Motion, Wheels, Orientation, Control, And Utilization, Limiting Values, Readout Systems, 32 Energy Conservation, Robots, Equations Of Motion, Positioning
Consumption, Rolling, Mathematical Models, Control Systems, Rolling Friction, Slip, 42 Engineering Not Included In Other Categories, Motion, Wheels, Orientation, Control, And Utilization, Limiting Values, Readout Systems, 32 Energy Conservation, Robots, Equations Of Motion, Positioning
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