Wheel rolling constraints and slip in mobile robots

Shashank Shekhar

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations

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 languageEnglish
Pages (from-to)2601-2607
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 1 Jan 1997
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 20 Apr 199725 Apr 1997

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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