Research on kinematic modeling and path following for wheeled mobile robot

摘要

This paper researches on modeling and path following for wheeled mobile robot. The proposed approach of kinematic modeling based on recursive kinematic propagation (RKP) simplifies the derivation of relevant Jacobians and also provides the solution for general cases. The kinematic model can be implemented recursively using a single formula that applies to all cases. The algorithm of path following with compensating slip proposed can compensate the path error effectively by compensating sideslip, wheel slip and steering slip of the wheeled mobile robot. The proposed approach and algorithm have been verified by simulation.