Jun 13, 2008 · This paper aims to give a general and unifying presentation on modeling of wheel mobile robots (WMRs) in the presence of wheel skidding and slipping from the perspective of control design. We present kinematic models that explicitly relate perturbations to the vehicle skidding and slipping.

Jan 1, 2021 · Paper (Ward & Iagnemma, 2008) represents wheel slip detection of a mobile robot through evaluation of forces, applied to the wheel. Data, obtained from sensor system, including inertia sensors and encoders, was used for that.

Jan 1, 2014 · Wheel slip is common when using differential drive mobile robots as the orientation of the robot is achieved by commanding a velocity differential between the two driven wheels of the mobile robot.

Jan 22, 2025 · This paper analyses four versions of the control system, which take into account the possibility of compensating for wheel slip and non-linearities resulting from the drive unit model. It is assumed that the wheel-slip compensation is based on the measurement of the actual robot’s motion parameters.

Abstract--A dynamic model is presented for omni-directional wheeled mobile robots, including wheel/motion surface slip. We derive the dynamics model, experimentally measure friction coefficients, and measure the force to cause slip (to validate our friction model).

In this paper we will present a brief overview of slip & skid and their modeling and control techniques. This paper is divided in to five sections. Section I gives the preface of WMRs and their slippage problem while Section II provides the introduction to slip and skid.

May 30, 2024 · Abstract: This work develops a fixed-time control scheme to address the tracking control problem for a wheeled mobile robot (WMR) in lumped disturbance conditions involving slipping, skidding, and external disturbances.

Sep 4, 2021 · The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels.

Apr 1, 2024 · The intelligent wheel slip estimator, based on the neural network was presented in this study. The NARX neural network with sufficient data collected in various tests, was trained to estimate the longitudinal slip ratio and sideslip angle and help the …

Mar 30, 2009 · In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system.