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Title page for ETD etd-07182010-165646

Type of Document Dissertation
Author Tian, Yu
URN etd-07182010-165646
Title Effect of wheel slip in modeling and control of wheeled mobile robots: applications to formation control and pursuit-evasion problems
Degree PhD
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Nilanjan Sarkar Committee Chair
Akram Aldroubi Committee Member
Carol A. Rubin Committee Member
Mitchell Wilkes Committee Member
Robert J. Webster Committee Member
  • nonholonomic wheeled mobile robot
  • under-actuated system
  • wheel slip effect
  • game -based pursuit-evasion
Date of Defense 2010-05-24
Availability unrestricted
Effect of wheel slip in modeling and control of a nonholonomic Wheel Mobile Robot (WMR) subject to wheel slip is studied in this dissertation. First the dynamic model of a WMR subject to wheel slip is developed. Various control techniques are investigated to study the effect of wheel slip for the WMR in regulation control, path following control, tracking control and sharp turning control. We then study the effect of wheel slip in multi-WMR formation control and game-based Pursuit-Evasion (P-E) problems. Particularly, in the game-based P-E problem, we study the maximum motion capability of a WMR subject to wheel slip, propose a conceptually equivalent kinematic model for the WMR pursuer and develop capture conditions for the game with wheel slip.
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