Effect of wheel slip in modeling and control of wheeled mobile robots: applications to formation control and pursuit-evasion problems
Effect of wheel slip in modeling and control of a nonholonomic Wheel Mobile Robot (WMR) subject to wheel slip is studied in this dissertation. First the dynamic model of a WMR subject to wheel slip is developed. Various control techniques are investigated to study the effect of wheel slip for the WMR in regulation control, path following control, tracking control and sharp turning control. We then study the effect of wheel slip in multi-WMR formation control and game-based Pursuit-Evasion (P-E) problems. Particularly, in the game-based P-E problem, we study the maximum motion capability of a WMR subject to wheel slip, propose a conceptually equivalent kinematic model for the WMR pursuer and develop capture conditions for the game with wheel slip.