Wheel rolling constraints and slip in mobile robots - simulation results

Shashank Shekhar

doi:10.1109/acc.1997.611858

Wheel rolling constraints and slip in mobile robots - simulation results

Shashank Shekhar

Department of Computer Science

Research output: Contribution to journal › Conference article › peer-review

1 Scopus citations

Abstract

Previously, we established 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. In this paper, we present simulation results on the magnitude of such slip based on Kalker's Simplified Linear Theory of the traction forces at the wheel-ground interface.

Original language	English
Pages (from-to)	542-546
Number of pages	5
Journal	Proceedings of the American Control Conference
Volume	1
DOIs	https://doi.org/10.1109/acc.1997.611858
State	Published - 1 Jan 1997
Event	Proceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA Duration: 4 Jun 1997 → 6 Jun 1997

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/acc.1997.611858

Cite this

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title = "Wheel rolling constraints and slip in mobile robots - simulation results",

abstract = "Previously, we established 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. In this paper, we present simulation results on the magnitude of such slip based on Kalker's Simplified Linear Theory of the traction forces at the wheel-ground interface.",

author = "Shashank Shekhar",

year = "1997",

month = jan,

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doi = "10.1109/acc.1997.611858",

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journal = "Proceedings of the American Control Conference",

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note = "Proceedings of the 1997 American Control Conference. Part 3 (of 6) ; Conference date: 04-06-1997 Through 06-06-1997",

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PY - 1997/1/1

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N2 - Previously, we established 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. In this paper, we present simulation results on the magnitude of such slip based on Kalker's Simplified Linear Theory of the traction forces at the wheel-ground interface.

AB - Previously, we established 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. In this paper, we present simulation results on the magnitude of such slip based on Kalker's Simplified Linear Theory of the traction forces at the wheel-ground interface.

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U2 - 10.1109/acc.1997.611858

DO - 10.1109/acc.1997.611858

M3 - Conference article

AN - SCOPUS:0030719177

SN - 0743-1619

VL - 1

SP - 542

EP - 546

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - Proceedings of the 1997 American Control Conference. Part 3 (of 6)

Y2 - 4 June 1997 through 6 June 1997

ER -

Wheel rolling constraints and slip in mobile robots - simulation results

Abstract

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