An Analysis of Wheeled Mobile Robots in the Presence of skidding and slipping: Control Design Perspective

摘要

This paper presents an analysis on wheeled mobile robots in the presence of wheel skidding and slipping from the perspective of control design. The analysis is based on the kinematic models that are recently developed from control perspective (Wang and Low 2006). Four generic mobile robots are considered in this analysis. We relate the robot's maneuverability with its controllability which provides insights on the robot's ability to track a trajectory in the presence of wheel skidding and slipping. These findings lay a base for the deployments of various control design techniques to overcome mobile robot control problems in the presence of wheel skidding and slipping.