Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot
Naim Sidek
Broschiertes Buch

Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot

when subjected to wheel slip

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Improving navigation performance of autonomouswheeled mobile robot (WMR) in a dynamic, unstructuredenvironment requires improved maneuverability. Insuch cases, the dynamics of wheel slip may violatethe ideal no-slip constraint generally used to modelnonholomic WMR. In this book, a new model ispresented to tackle the modeling inadequacy thatarises when slip is neglected by including bothlongitudinal and lateral slip dynamics into theoverall dynamics of the WMR. The presented modelprovides a realistic simulation scenario that can beutilized to develop model-based controller to improveWMR navigat...