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Title

Experimental studies and modeling of four-wheeled mobile robot motion taking into account wheel slippage

Journal title

Bulletin of the Polish Academy of Sciences Technical Sciences

Yearbook

2021

Volume

69

Issue

6

Authors

Jaskot, Anna ; Posiadała, Bogdan

Affiliation

Jaskot, Anna : Czestochowa University of Technology, Faculty of Civil Engineering, ul. Akademicka 3, 42-201 Częstochowa, Poland ; Posiadała, Bogdan : Czestochowa University of Technology, Faculty of Mechanical Engineering and Computer Science, ul. Dąbrowskiego 73, 42-201 Częstochowa, Poland

Keywords

motion dynamics ; wheel slippage ; wheeled mobile platforms ; equations of motion

Divisions of PAS

Nauki Techniczne

Coverage

e139205

Bibliography

  1.  A. Jaskot, “Modelowanie i analiza ruchu platform mobilnych z uwzględnieniem poślizgu,” Ph.D. dissertation, Czestochowa University of Technology, 2021.
  2.  Z. Lozia, “Modele symulacyjne ruchu i dynamiki dwóch pojazdów uprzywilejowanych,” Czaspismo Techniczne Mechanika, vol. Z.8, pp. 19–34, 2012.
  3.  S. Aguilera-Marinovic, M. Torres-Torriti, and F. Auat-Cheein, “General dynamic model for skid-steer mobile manipulators with wheel – ground interactions,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 1, pp. 433–444, Feb. 2017, doi: 10.1109/tmech.2016.2601308.
  4.  A. Mandow et al., “Experimental kinematics for wheeled skid-steer mobile robots,” in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Oct. 2007, doi: 10.1109/iros.2007.4399139.
  5.  D. Pazderski, “Waypoint following for differentially driven wheeled robots with limited velocity perturbations,” Journal of Intelligent & Robotic Systems, vol. 85, no. 3‒4, pp. 553–575, Jun. 2016, doi: 10.1007/s10846-016-0391-7.
  6.  Y. Abdelgabar, J. Lee, and S. Okamoto, “Motion control of a three active wheeled mobile robot and collision-free human following nav- igation in outdoor environment,” Proc. Int. Multi- Conf. Eng. Comput. Sci., vol. 1, p. 4, 2016.
  7.  L. Xin, Q. Wang, J. She, and Y. Li, “Robust adaptive tracking control of wheeled mobile robot,” Rob. Auton. Syst., vol. 78, pp. 36–48, 2016, doi: 10.1016/j.robot.2016.01.002.
  8.  W. Kowalczyk and K. Kozłowski, “Trajectory tracking and collision avoidance for the formation of two-wheeled mobile robots,” Bull. Pol. Acad. Sci. Tech. Sci., vol. 67, no. 5, pp. 915–924, 2019, doi: 10.24425/bpas.2019.128652.
  9.  X. Feng and C.Wang, “Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection,” Int. J. Control Autom. Syst., vol. 19, no. 2, pp. 1078–1088, 2021, doi: 10.1007/s12555-020-0026-4.
  10.  M. Nitulescu, “Solutions for Modeling and Control in Mobile Robotics,” J. Control Eng. Appl. Inf., vol. 9, no. 3;4, pp. 43–50, 2007.
  11.  D. Cekus, R. Gnatowska, and P. Kwiatoń, “Impact of Wind on the Movement of the Load Carried by Rotary Crane,” Appl. Sci., vol. 9, no. 19, p. 22, 2019, doi: 10.3390/app9183842.
  12.  A. Jaskot, B. Posiadała, and S. Śpiewak, “Dynamics Modelling of the Four-Wheeled Mobile Platform,” Mech. Res. Commun., vol.  83, pp. 58–64, 2017, doi: 10.1016/j.mechrescom. 2017.05.007.
  13.  A. Jaskot, B. Posiadała, and S. Śpiewak, “Dynamics Model of the Mobile Platform for its Various Configurations,” Procedia Eng., vol. 177, pp. 162–167, 2017, doi: 10.1016/j.proeng.2017.02.211.
  14.  A. Jaskot and B. Posiadała, “Dynamics of the mobile platform with four wheel drive,” MATEC Web of Conferences, vol. 254, p. 8, 2019, doi: 10.1051/matecconf/201925403006.
  15.  N. Sarkar, X. Yun, and V. Kumar, “Control of Mechanical Systems With Rolling Constraints: Application to Dynamic Control of Mobile Robots,” Int. J. Rob. Res., vol. 13, no. 1, pp. 55–69, 1994, doi: 10.1177/027836499401300104.
  16.  M. Eghtesad and D. Necsulescu, “Study of the internal dynamics of an autonomous mobile robot,” Rob. Auton. Syst., vol. 54, no. 4, pp. 342–349, 2006, doi: 10.1016/j.robot.2006.01.001.
  17.  “Technical specification.” [Online]. Available: http://pl.kwapil.com/downloads/maxon-ec-motor.pdf (Accessed 2017-07-24).
  18.  “Leo rover specification.” [Online]. Available: https://www.leorover.tech/the-rover (Accessed 2021-04-21).

Date

13.10.2021

Type

Article

Identifier

DOI: 10.24425/bpasts.2021.139205
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