Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot
The main contribution of this paper is to present and discusses a new approach for development of a kinematics model and control strategy for a nonholonomic Wheeled Mobile Robot WMR. Dynamic model is involved, the linearization of the model is also presented, and stability analysis is discussed. Ex...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | Arabic |
| Published: |
Mustansiriyah University/College of Engineering
2008-09-01
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| Series: | Journal of Engineering and Sustainable Development |
| Subjects: | |
| Online Access: | https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/1657 |
| _version_ | 1797984921606684672 |
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| author | Mohammed Majed Mohammed Al-Khalidy |
| author_facet | Mohammed Majed Mohammed Al-Khalidy |
| author_sort | Mohammed Majed Mohammed Al-Khalidy |
| collection | DOAJ |
| description |
The main contribution of this paper is to present and discusses a new approach for
development of a kinematics model and control strategy for a nonholonomic Wheeled
Mobile Robot WMR.
Dynamic model is involved, the linearization of the model is also presented, and stability analysis is discussed. Extensive simulation results for the proposed controller are presented.
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| first_indexed | 2024-04-11T07:10:33Z |
| format | Article |
| id | doaj.art-d24a753b7ade47dfbbd8443d399bfb77 |
| institution | Directory Open Access Journal |
| issn | 2520-0917 2520-0925 |
| language | Arabic |
| last_indexed | 2024-04-11T07:10:33Z |
| publishDate | 2008-09-01 |
| publisher | Mustansiriyah University/College of Engineering |
| record_format | Article |
| series | Journal of Engineering and Sustainable Development |
| spelling | doaj.art-d24a753b7ade47dfbbd8443d399bfb772022-12-22T04:38:14ZaraMustansiriyah University/College of EngineeringJournal of Engineering and Sustainable Development2520-09172520-09252008-09-01123Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile RobotMohammed Majed Mohammed Al-Khalidy0Electrical Engineering Department, College of Engineering, Al-Mustansiriya University, Baghdad, Iraq The main contribution of this paper is to present and discusses a new approach for development of a kinematics model and control strategy for a nonholonomic Wheeled Mobile Robot WMR. Dynamic model is involved, the linearization of the model is also presented, and stability analysis is discussed. Extensive simulation results for the proposed controller are presented. https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/1657. |
| spellingShingle | Mohammed Majed Mohammed Al-Khalidy Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot Journal of Engineering and Sustainable Development . |
| title | Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot |
| title_full | Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot |
| title_fullStr | Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot |
| title_full_unstemmed | Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot |
| title_short | Kinematics Modeling and Development of a Nonholonomic Wheeled Mobile Robot |
| title_sort | kinematics modeling and development of a nonholonomic wheeled mobile robot |
| topic | . |
| url | https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/1657 |
| work_keys_str_mv | AT mohammedmajedmohammedalkhalidy kinematicsmodelinganddevelopmentofanonholonomicwheeledmobilerobot |