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CLC number: TP24

On-line Access: 2015-01-29

Received: 2014-05-16

Revision Accepted: 2014-10-01

Crosschecked: 2014-12-30

Cited: 11

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Citations:  Bibtex RefMan EndNote GB/T7714


Jamshed Iqbal


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Frontiers of Information Technology & Electronic Engineering  2015 Vol.16 No.2 P.166-172


Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Author(s):  Hamza Khan, Jamshed Iqbal, Khelifa Baizid, Teresa Zielinska

Affiliation(s):  Division of Theory of Machines and Robots, Warsaw University of Technology, Warsaw 00-661, Poland; more

Corresponding email(s):   jamshed.iqbal@comsats.edu.pk

Key Words:  Robot modeling, Robot navigation, Slip and skid control, Wheeled mobile robots

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Hamza Khan, Jamshed Iqbal, Khelifa Baizid, Teresa Zielinska. Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking[J]. Frontiers of Information Technology & Electronic Engineering, 2015, 16(2): 166-172.

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This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

This paper researches on the trajectory tracking problem for longitudinal and lateral slip control of autonomous wheeled mobile robots. This problem is very interesting and the paper is well organized.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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