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Autonomous Control Systems and Vehicles pp 195–209Cite as

Modeling and Control of Wheeled Mobile Robots: From Kinematics to Dynamics with Slipping and Skidding

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Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 65))

Abstract

This chapter addresses a trajectory tracking control problem of wheeled mobile robots (WMRs) in the style of tutorial, especially focusing on the relationship between modeling and control. The aim of this chapter is to reveal the steam of control of WMRs in the literature to help the development of robust controllers in the presence of slipping and skidding. It is shown that even if the robots are not under nonholonomic constraints, the control strategy for nonholonomic systems is useful for kinematic level controllers. Furthermore, it is emphasized that the backstepping method is attractive to utilize the kinematics-based controller for dynamic models.

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Author information

Authors and Affiliations

  1. Mechanical and Production Engineering, Niigata University, Niigata, Japan

    Makoto Yokoyama

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  1. Makoto Yokoyama
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Correspondence to Makoto Yokoyama .

Editor information

Editors and Affiliations

  1. , Graduate School & Fuclty of Engineering, Chiba University, Yavoi-cho 1-33, Chiba, 263-0022, Japan

    Kenzo Nonami

  2. , Center for Unmanned System Studies, Institute of Technology Bandung, Jl. Ganesha 10,, Bandung, 40132, Indonesia

    Muljowidodo Kartidjo

  3. , Dept of Aerospace Information Eng, Konkuk University, 1 Hwayang-dong, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. Dept. Aerospace & Information Engin., Smart Robot Center, Konkuk University, Hwayang-dong 1, Seoul, 143-701, Korea, Republic of (South Korea)

    Agus Budiyono

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Yokoyama, M. (2013). Modeling and Control of Wheeled Mobile Robots: From Kinematics to Dynamics with Slipping and Skidding. In: Nonami, K., Kartidjo, M., Yoon, KJ., Budiyono, A. (eds) Autonomous Control Systems and Vehicles. Intelligent Systems, Control and Automation: Science and Engineering, vol 65. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54276-6_13

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  • DOI: https://doi.org/10.1007/978-4-431-54276-6_13

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  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-54275-9

  • Online ISBN: 978-4-431-54276-6

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