In this paper, we present a method to accurately predict the wheel speed limits at which mobile robots can operate without significant slipping. The method is based on an asymptotic solution of the nonlinear equations of motion. Using this approach, we can predict wheel slipping limits of both the inside and outside wheel when the robot is in a circular motion of any radius. The analytical results are supported by experiments which show that the inside wheel slipping limits for circular motions of various radii occur very close to the predicted values.
- Dynamic Systems and Control Division
Prediction of Wheel Slipping Limits for Mobile Robots
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Whitman, AM, Clayton, GM, & Ashrafiuon, H. "Prediction of Wheel Slipping Limits for Mobile Robots." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T37A002. ASME. https://doi.org/10.1115/DSCC2018-9053
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