Abstract
It is widely accepted that dead reckoning based on the rolling with no slip condition on wheels is not a reliable method to ascertain the position and orientation of a mobile robot for any reasonable distance. We establish that wheel slip is inevitable under the dynamic model of motion using classical results on the accessibility and controllability in nonlinear control theory and an analytical model of rolling of two linearly elastic bodies.
| Original language | English |
|---|---|
| Pages (from-to) | 2601-2607 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| State | Published - 1 Jan 1997 |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 20 Apr 1997 → 25 Apr 1997 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering