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Více informací o knize Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot

• Parametry knihy
• Anotace
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Anotace knihy

Improving navigation performance of autonomous§wheeled mobile robot (WMR) in a dynamic, unstructured§environment requires improved maneuverability. In§such cases, the dynamics of wheel slip may violate§the ideal no-slip constraint generally used to model§nonholomic WMR. In this book, a new model is§presented to tackle the modeling inadequacy that§arises when slip is neglected by including both§longitudinal and lateral slip dynamics into the§overall dynamics of the WMR. The presented model§provides a realistic simulation scenario that can be§utilized to develop model-based controller to improve§WMR navigation. In particular, to demonstrate how§this model can be useful in developing model-based§planning and control of WMR with wheel slip, a§dynamic path-following controller is designed to§allow the WMR to navigate efficiently by autonomously§regulate its forward velocity based on the generated§traction force at the wheel-surface contact point.

Parametry knihy

• Plný název: Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot
• Podnázev: when subjected to wheel slip
• Autor: Naim Sidek
• Jazyk: Angličtina
• Vazba: Brožovaná
• Počet stran: 92
• EAN: 9783639139150
• ID: 06822563
• Nakladatelství: VDM Verlag Dr. Müller
• Rozměry: 223 × 154 × 10 mm
• Rok vydání: 2009

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