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Applied Sciences
Other literature type . 2021
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Article . 2021
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Applied Sciences
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Applied Sciences
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An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

descriptionPublicationkeyboard_double_arrow_right Article , Other literature type 10 Feb 2021 Italy English Publisher:MDPI AGJournal:Applied Sciences, volume 11, page 1,594 (eissn: 2076-3417, Copyright policy )
Authors: Andrea Botta; Paride Cavallone; Luigi Tagliavini; Luca Carbonari; Carmen Visconte; Giuseppe Quaglia;

doi: 10.3390/app11041594

handle: 11583/2870690

An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

Abstract

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

Country
Italy
Related Organizations
Keywords

Technology, QH301-705.5, T, Physics, QC1-999, Engineering (General). Civil engineering (General), mobile robots; tractor-trailer; wheel slip compensation; kinematics, Chemistry, mobile robots, wheel slip compensation, kinematics, tractor-trailer, TA1-2040, Biology (General), QD1-999

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    popularity
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    influence
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    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
9
Top 10%
Average
Top 10%
Green
gold