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Modeling and Control of Wheeled Mobile Robots

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Springer Handbook of Robotics

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Abstract

This chapter may be seen as a follow up to Chap. 24, devoted to the classification and modeling of basic wheeled mobile robot (GlossaryTerm

WMR

) structures, and a natural complement to Chap. 47, which surveys motion planning methods for WMRs. A typical output of these methods is a feasible (or admissible) reference state trajectory for a given mobile robot, and a question which then arises is how to make the physical mobile robot track this reference trajectory via the control of the actuators with which the vehicle is equipped. The object of the present chapter is to bring elements of the answer to this question based on simple and effective control strategies.

The chapter is organized as follows. Section 49.2 is devoted to the choice of control models and the determination of modeling equations associated with the path-following control problem. In Sect. 49.3, the path following and trajectory stabilization problems are addressed in the simplest case when no requirement is made on the robot orientation (i. e., position control). In Sect. 49.4 the same problems are revisited for the control of both position and orientation. The previously mentionned sections consider an ideal robot satisfying the rolling-without-sliding assumption. In Sect. 49.5, we relax this assumption in order to take into account nonideal wheel-ground contact. This is especially important for field-robotics applications and the proposed results are validated through full scale experiments on natural terrain. Finally, a few complementary issues on the feedback control of mobile robots are briefly discussed in the concluding Sect. 49.6 , with a list of commented references for further reading on WMRs motion control.

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Abbreviations

3-D:

three-dimensional

4-D:

four-dimensional

DOF:

degree of freedom

GPS:

global positioning system

IMU:

inertial measurement unit

RTK:

real-time kinematics

SUGV:

small unmanned ground vehicle

WMR:

wheeled mobile robot

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Author information

Authors and Affiliations

  1. INRIA Sophia-Antipolis, 2004 Route des Lucioles, 06560, Sophia-Antipolis, France

    Claude Samson

  2. Institute for Intelligent Systems and Robotics, University Pierre and Marie Curie, 4 Place Jussieu, 75005, Paris, France

    Pascal Morin

  3. Department of Ecotechnology, IRSTEA, 9 AvenueBlaise Pascal - CS20085, 63178, Aubiere, France

    Roland Lenain

Authors
  1. Claude Samson
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  2. Pascal Morin
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  3. Roland Lenain
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Corresponding author

Correspondence to Claude Samson .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

:

Tracking of an admissible trajectory with a car-like vehicle available from http://handbookofrobotics.org/view-chapter/49/videodetails/181

:

Tracking of arbitrary trajectories with a truck-like vehicle available from http://handbookofrobotics.org/view-chapter/49/videodetails/182

:

Tracking of an omnidirectional frame with a unicycle-like robot available from http://handbookofrobotics.org/view-chapter/49/videodetails/243

:

Mobile robot control in off-road condition and under high dynamics available from http://handbookofrobotics.org/view-chapter/49/videodetails/435

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Samson, C., Morin, P., Lenain, R. (2016). Modeling and Control of Wheeled Mobile Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_49

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_49

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