Forward Velocity Estimation Algorithm for Planar Mobile Robots

  • Published : 2001.10.01

Abstract

The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...

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