Dynamic Modelling and Adaptive Traction Control for Mobile Robots
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of rese...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/dynamic_modelling_and_adaptive_traction_control_for_mobile_robots |
| _version_ | 1811279682554822656 |
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| author | A. Albagul M. Wahyudi |
| author_facet | A. Albagul M. Wahyudi |
| author_sort | A. Albagul |
| collection | DOAJ |
| description | Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as `Low' level controller. The second level is developed to take care of path planning and trajectory generation. |
| first_indexed | 2024-04-13T01:00:05Z |
| format | Article |
| id | doaj.art-a80231f694c14dc0ae1df3040d4d4359 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-04-13T01:00:05Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a80231f694c14dc0ae1df3040d4d43592022-12-22T03:09:31ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0113Dynamic Modelling and Adaptive Traction Control for Mobile RobotsA. AlbagulM. WahyudiMobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as `Low' level controller. The second level is developed to take care of path planning and trajectory generation.http://www.intechopen.com/articles/show/title/dynamic_modelling_and_adaptive_traction_control_for_mobile_robotsmobile robotspath planningmodellingdynamicadaptive control. |
| spellingShingle | A. Albagul M. Wahyudi Dynamic Modelling and Adaptive Traction Control for Mobile Robots International Journal of Advanced Robotic Systems mobile robots path planning modelling dynamic adaptive control. |
| title | Dynamic Modelling and Adaptive Traction Control for Mobile Robots |
| title_full | Dynamic Modelling and Adaptive Traction Control for Mobile Robots |
| title_fullStr | Dynamic Modelling and Adaptive Traction Control for Mobile Robots |
| title_full_unstemmed | Dynamic Modelling and Adaptive Traction Control for Mobile Robots |
| title_short | Dynamic Modelling and Adaptive Traction Control for Mobile Robots |
| title_sort | dynamic modelling and adaptive traction control for mobile robots |
| topic | mobile robots path planning modelling dynamic adaptive control. |
| url | http://www.intechopen.com/articles/show/title/dynamic_modelling_and_adaptive_traction_control_for_mobile_robots |
| work_keys_str_mv | AT aalbagul dynamicmodellingandadaptivetractioncontrolformobilerobots AT mwahyudi dynamicmodellingandadaptivetractioncontrolformobilerobots |