Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza Khan, Jamshed Iqbal (Lead / Corresponding author), Khelifa Baizid, Teresa Zielinska

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)

Abstract

This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

Original languageEnglish
Pages (from-to)166-172
Number of pages7
JournalFrontiers of Information Technology and Electronic Engineering
Volume16
Issue number2
DOIs
Publication statusPublished - Feb 2015

Keywords

  • Robot modeling
  • Robot navigation
  • Slip and skid control
  • Wheeled mobile robots

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