An amendatory dynamic model with slip for four-wheeled omnidirectional mobile robot

Cao, Qixin; Huang, Yanwen; Leng, Chuntao

doi:10.1117/12.784206

Cited by 1 publication

(1 citation statement)

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“…Therefore, based on the preliminary study result summarized in Cao et al (2007), this work presents the path‐tracking controller based on the dynamical model with slip for one four‐wheeled OMR, which is organized as follows: in Section 2, the kinematics and dynamics model of the four‐wheeled OMR is presented. Based on this model, in Section 3, an amendatory dynamics model with slip between the wheels and the motion surface is developed.…”

Section: Introductionmentioning

confidence: 99%

The path‐tracking controller based on dynamic model with slip for one four‐wheeled OMR

Huang

Cao²,

Leng³

2010

Industrial Robot: An International Journal

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PurposeThis paper aims to propose a suitable motion control method for omni‐directional mobile robots (OMRs). In RoboCup competition, the robot moves in a dynamic and oppositional environment, which occurs with high acceleration and deceleration motion frequently, especially for our OMR that slipping is almost inherently encountered in motion. Therefore, the purpose of this paper is to present one improved dynamical model with slip, and then to propose one suitable path‐tracking controller based on it, which gives more accurate control result.Design/methodology/approachA dynamic modeling method for OMRs based on the theory of vehicle dynamics is proposed. By analyzing the wheel contact friction forces both in the wheel hub rolling direction and in the roller rolling direction, an amendatory dynamics model is presented. This model is introduced into the computed‐torque‐like‐controller (CTLC) system to solve the path‐tracking problem.FindingsAn amendatory dynamics model with slip is analyzed and introduced into the CTLC system to solve the path tracking problem for OMR in this paper. The anti‐disturbance ability and the trajectory tracking effect of the proposed motion control method are proven through simulations and experiments.Practical implicationsThe proposed path tracking control method based on one improved dynamic model with slip is applied successfully to achieve effective motion control for one four‐wheel OMR, which is suitable for any kind of OMR.Originality/valueOne amendatory dynamics model including slipping between the wheels and ground is presented. Based on the above‐slipping model, one CTLC is implemented to solve the path‐tracking problem for one four‐wheel OMR.

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Section: Introductionmentioning

confidence: 99%