Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Kinematic Modeling of a Car-like Planar Mobile Robot with Four Fixed Wheels

네 개의 고정 바퀴가 장착된 자동차 구를 평면형 모바일 로봇의 기구학 모델링

  • Lee, Seung-Eun (Graduate School of Korea University) ;
  • Kim, Hui-Guk (Dept.of Control and Instrumentation Engineering, Korea University) ;
  • Lee, Byeong-Ju (Dept. of Electronic computer Engineering, Hanyang University)
  • 이승은 (고려대학교 대학원) ;
  • 김희국 (고려대학교 제어계측공학과) ;
  • 이병주 (한양대학교 전자컴퓨터 공학부)
  • Published : 2002.07.01
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Abstract

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

Keywords

References

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