Practical approach of modeling and parameters estimation for omnidirectional mobile robots

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 3, 2009, Pages 377-381

  Conceição, André S ^a   Moreira, Paulo A ^a   Costa, Paulo J ^a  

^a UNIVERSITY OF PORTO   (Portugal)

Author keywords

Least squares methods; Mobile robots; Modeling; Parameter estimation

Indexed keywords

COULOMB FRICTION COEFFICIENT; DYNAMIC EQUATIONS; ESTIMATION METHODS; EXPERIMENTAL METHODS; LEAST-SQUARES METHODS; MODELING; MODELING APPROACH; MOMENT OF INERTIA; NONLINEAR MODELING; OMNIDIRECTIONAL MOBILE ROBOT; PARAMETERS ESTIMATION; SIMULATION RESULT; VISCOUS FRICTION;

FRICTION; METHOD OF MOMENTS; MOBILE ROBOTS;

PARAMETER ESTIMATION;

EID: 67650119312     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2009.2013615     Document Type: Article

References (11)

1. A. Albagul and Wahyudi, "Dynamic modeling and adaptive traction control for mobile robots," Int. J. Adv. Robot. Syst., vol. 1, pp. 149-154, 2004.
2. K. J.Waldron and M. E. Abdallah, "An optimal traction control scheme for off-road operation of robotic vehicles," IEEE/ASME Trans. Mechatronics, vol. 12, no. 2, pp. 126-133, Apr. 2007.
3. F. Hamerlain, K. Achour, T. Floquet, and W. Perruquetti, "Higher order sliding mode control of wheeled mobile robots in the presence of sliding effects," in Proc. 44th IEEE Conf. Decis. Control Eur. Control Conf. (CDC-ECC), 2005, pp. 1959-1963.
4. K. L.Moore and N. S. Flann, "A six-wheeled omnidirectional autonomous mobile robot," IEEE Control Syst. Mag., vol. 20, no. 6, pp. 53-66, Dec. 2000.
5. T. Jun, K. Watanabe, and Y. Shiraishi, "Design and traveling experiment of an omnidirectional holonomic mobile robot," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), 1996, vol. 1, pp. 66-73.
6. G. Reina, L. Ojeda, A. Milella, and J. Borenstein, "Wheel slippage and sinkage detection for planetary rovers," IEEE/ASME Trans.Mechatronics, vol. 11, no. 2, pp. 185-195, Apr. 2006.
7. G. Baffet, A. Charara, and G. Dherbomez, "An observer of tire-road forces and friction for active security vehicle systems," IEEE/ASME Trans. Mechatronics, vol. 12, no. 6, pp. 651-661, Dec. 2007.
8. C.-L. Hwang and L.-J. Chang, "Trajectory tracking and obstacle avoidance of car-like mobile robots in an intelligent space using mixed H2/Hin f ty decentralized control," IEEE/ASME Trans. Mechatronics vol. 12, no. 3, pp. 345-352, Jun. 2007.
9. K. Iagnemma, K. Shinwoo, H. Shibly, and S. Dubowsky, "Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers," IEEE Trans. Robot., vol. 20, no. 5, pp. 921-927, Oct. 2004.
10. B. C.Kuo, Automatic Control Systems. NewYork: Wiley, 1995, pp. 140-145, ch. 4.
11. G. F. Franklin, J. D. Powell, and M. L. Workman, Digital Control of Dynamic Systems. Boston, MA: Addison-Wesley Longman, 1997.