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Synthesis of control law considering wheel–ground interaction and contact stability of autonomous mobile robot

Published online by Cambridge University Press:  11 April 2011

Teresa Zielinska  and
Andrzej Chmielniak
Teresa Zielinska*
Affiliation:
Institute of Aeronautics and Applied Mechanics (WUT–IAAM), Warsaw University of Technology, ul. Nowowiejska 24, 00-665 Warsaw, Poland
Andrzej Chmielniak
Affiliation:
Institute of Aeronautics and Applied Mechanics (WUT–IAAM), Warsaw University of Technology, ul. Nowowiejska 24, 00-665 Warsaw, Poland
*
*Corresponding author. E-mail: teresaz@meil.pw.edu.pl
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Summary

We proposed a new method of mobile robot motion synthesis. A dynamical model describing the slip phenomenon taking into account the wheel–ground interaction was derived. The novelty of this work stems from the assumption that the slip already exists and the wheel motion pattern must reduce it, not exceeding the acceleration and torque limits. Moreover, a slip estimation method is proposed by introducing a critical friction coefficient. The theoretical considerations are confirmed by simulation and experiment. This research was performed in the framework of the PROTEUS project aiming at the development of autonomous robots for inspection and exploration. These robots will move in natural terrain.

Keywords

Control of robotics systemsMobile robotsMotion planningLand robots
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 981 - 990
Copyright
Copyright © Cambridge University Press 2011

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