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Wheel-Slip Based Inverse Solution for Differential Drive Mobile Robots

[+] Author Affiliations
Alan Whitman, Garrett Clayton, Alex Poultney, Hashem Ashrafiuon

Villanova University, Villanova, PA

Paper No. DSCC2015-9854, pp. V001T18A004; 6 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


An approximate inverse dynamic solution for differential drive mobile robots is presented where the wheel speeds are analytically calculated for a specified desired trajectory. The differential equations of motion of the mobile robot are nondimen-sionalized and a small parameter is defined based on the ratio of wheel slip and wheel speed variation time scales. Approximate dominant and first order inverse solutions are derived for general trajectories. Next, a trajectory planning strategy is devised to ensure continuous wheel speed profiles in achieving any desired target trajectory. The case of target circular trajectories is specifically considered and with inverse solutions which are verified both through simulations and experiments.

Copyright © 2015 by ASME
Topics: Mobile robots , Wheels



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