• About
    • Login
    View Item 
    •   Institutional Repository Home
    • Electronic Theses and Dissertations
    • Electronic Theses and Dissertations
    • View Item
    •   Institutional Repository Home
    • Electronic Theses and Dissertations
    • Electronic Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of Institutional RepositoryCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDepartmentThis CollectionBy Issue DateAuthorsTitlesSubjectsDepartment

    My Account

    LoginRegister

    Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip

    Sidek, Shahrul Naim
    : https://etd.library.vanderbilt.edu/etd-11072008-071419
    http://hdl.handle.net/1803/14450
    : 2008-11-12

    Abstract

    DYNAMIC MODELING AND CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOT SUBJECTED TO WHEEL SLIP<P> SHAHRUL NAIM SIDEK<P> Improving navigation performance of autonomous wheeled mobile robot (WMR) in a dynamic unstructured environment requires improved maneuverability. In such cases, the dynamics of wheel slip may violate the ideal no-slip kinematic constraints generally used to model nonholonomic WMR. In this dissertation, a new model is proposed to tackle the modeling inadequacy that arises when slip is neglected by including both longitudinal and lateral slip dynamics into the overall dynamics of the WMR. The presented model of the WMR provides a realistic simulation scenario that can be utilized to develop model-based controllers to improve WMR navigation. In particular, to demonstrate how this model can be useful in developing model-based planning and control of WMR with wheel slip, a dynamic path-following controller is designed to allow the WMR to navigate efficiently by autonomously regulate its forward velocity based on the generated traction force at the wheel-surface contact point. Extensive simulation results show the importance of the proposed modeling technique to capture slip phenomenon and the efficacy of the presented control technique to exploit such slip for better navigation performance. In addition, through experiments, the dynamics of slip in the system model has been verified.
    Show full item record

    Files in this item

    Icon
    Name:
    etd.pdf
    Size:
    1.973Mb
    Format:
    PDF
    View/Open

    This item appears in the following collection(s):

    • Electronic Theses and Dissertations

    Related items

    Showing items related by title, author, creator and subject.

    • Autonomous Cooperative Assembly by Force Feedback Using a Control Basis Approach 
      Rojas, Juan Luis (2009-04-07)
      Department: Electrical Engineering
      Recent goals in space missions require innovative technologies to develop and to build infrastructure for space exploration. NASA plans to have robots construct modular systems and habitats and prepare them for life support ...
    • Design of the peer agent for multi-robot communication in an agent-based robot control architecture 
      Bijayendrayodhin, Anak (2002-04-29)
      Department: Electrical Engineering
      The role of communication among mobile robots remains one of the most important issues in multi-agent robotics system design. There are many research groups currently working on communication and cooperation among robots. ...
    • Investigating the cognitive processing of experience for decision making in robots: accounting for internal states and appraisals 
      Gordon, Stephen Michael (2009-04-09)
      Department: Electrical Engineering
      Real-time search techniques have been used extensively in the areas of task planning and decision making. In order to be effective, however, these techniques require task-specific domain knowledge in the form of heuristic ...

    Connect with Vanderbilt Libraries

    Your Vanderbilt

    • Alumni
    • Current Students
    • Faculty & Staff
    • International Students
    • Media
    • Parents & Family
    • Prospective Students
    • Researchers
    • Sports Fans
    • Visitors & Neighbors

    Support the Jean and Alexander Heard Libraries

    Support the Library...Give Now

    Gifts to the Libraries support the learning and research needs of the entire Vanderbilt community. Learn more about giving to the Libraries.

    Become a Friend of the Libraries

    Quick Links

    • Hours
    • About
    • Employment
    • Staff Directory
    • Accessibility Services
    • Contact
    • Vanderbilt Home
    • Privacy Policy