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Title page for ETD etd-11072008-071419


Type of Document Dissertation
Author Sidek, Shahrul Naim
Author's Email Address naim.sidek@gmail.com
URN etd-11072008-071419
Title Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip
Degree PhD
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Nilanjan Sarkar Committee Chair
Akram Aldroubi Committee Member
Carol A. Rubin Committee Member
D. Mitchell Wilkes Committee Member
George E. Cook Committee Member
Keywords
  • Mobile robots -- Skidding
  • Robots -- Motion -- Computer simulation
  • wheel slip
  • nonholonomic constraint
  • wheeled mobile robot
  • path following
  • Mobile robots -- Traction
  • Nonholonomic dynamical systems
Date of Defense 2008-10-31
Availability unrestricted
Abstract
DYNAMIC MODELING AND CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOT SUBJECTED TO WHEEL SLIP

SHAHRUL NAIM SIDEK

Improving navigation performance of autonomous wheeled mobile robot (WMR) in a dynamic unstructured environment requires improved maneuverability. In such cases, the dynamics of wheel slip may violate the ideal no-slip kinematic constraints generally used to model nonholonomic WMR. In this dissertation, a new model is proposed to tackle the modeling inadequacy that arises when slip is neglected by including both longitudinal and lateral slip dynamics into the overall dynamics of the WMR. The presented model of the WMR provides a realistic simulation scenario that can be utilized to develop model-based controllers to improve WMR navigation. In particular, to demonstrate how this model can be useful in developing model-based planning and control of WMR with wheel slip, a dynamic path-following controller is designed to allow the WMR to navigate efficiently by autonomously regulate its forward velocity based on the generated traction force at the wheel-surface contact point. Extensive simulation results show the importance of the proposed modeling technique to capture slip phenomenon and the efficacy of the presented control technique to exploit such slip for better navigation performance. In addition, through experiments, the dynamics of slip in the system model has been verified.

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