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Dynamic modeling and parameter estimation for traction, rolling, and lateral wheel forces to enhance mobile robot trajectory tracking
Date
2015-12-01
Author
BAYAR, Gokhan
Koku, Ahmet Buğra
Konukseven, Erhan İlhan
Metadata
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This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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Studying wheel and ground interaction during motion has the potential to increase the performance of localization, navigation, and trajectory tracking control of a mobile robot. In this paper, a differential mobile robot is modeled in a way that (traction, rolling, and lateral) wheel forces are included in the overall system dynamics. Lateral wheel forces are included in the mathematical model together with traction and rolling forces. A least square parameter estimation process is proposed to estimate the parameters of the wheel forces. In order to implement the proposed methodologies, an experimental setup is used. The setup contains a differentially driven mobile robot, a specially constructed test surface, and a camera system attached at the top of surface for obtaining ground truth. Models having one or more wheel forces are simulated to find the most realistic model. Simulation results are verified by experiments.
Subject Keywords
Control and Systems Engineering
,
Software
,
General Mathematics
,
Computer Science Applications
URI
https://hdl.handle.net/11511/39453
Journal
ROBOTICA
DOI
https://doi.org/10.1017/s0263574714001386
Collections
Department of Mechanical Engineering, Article
Citation Formats
IEEE
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MLA
BibTeX
G. BAYAR, A. B. Koku, and E. İ. Konukseven, “Dynamic modeling and parameter estimation for traction, rolling, and lateral wheel forces to enhance mobile robot trajectory tracking,”
ROBOTICA
, vol. 33, no. 10, pp. 2204–2220, 2015, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/39453.