Dynamic modeling of wheeled mobile robots for high load applications
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3071-3078
- https://doi.org/10.1109/robot.1994.351097
Abstract
This paper examines dynamic modeling of differentially and conventionally steered wheeled mobile robots (WMRs) for high load applications such as highway maintenance and construction. Dynamic models including an accurate tire representation are developed for both types of WMRs. In addition to these dynamic models, both kinematic and simplified dynamic models are also developed for purposes of comparison. The simplified dynamic model utilizes a greatly simplified tire representation. Through the use of simulation, the limits of validity of each of the models is determined thus allowing for the selection of the model most appropriate for a given application. Additionally, the accuracy of the dead reckoning vehicle tracking process is investigated.Keywords
This publication has 2 references indexed in Scilit:
- Comparative study of the different methods of path generation for a mobile robot in a free environmentPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1991
- On the Kinematics of Wheeled Mobile RobotsThe International Journal of Robotics Research, 1989