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Dynamic modeling and parameter estimation for traction, rolling, and lateral wheel forces to enhance mobile robot trajectory tracking

Published online by Cambridge University Press:  03 June 2014

Gokhan Bayar ,
A. Bugra Koku  and
E. Ilhan Konukseven
Gokhan Bayar*
Affiliation:
Mechanical Engineering Department, Middle East Technical University, Ankara, Turkey E-mails: kbugra@metu.edu.tr, konuk@metu.edu.tr Mechanical Engineering Department, Bulent Ecevit University, Zonguldak, Turkey
A. Bugra Koku
Affiliation:
Mechanical Engineering Department, Middle East Technical University, Ankara, Turkey E-mails: kbugra@metu.edu.tr, konuk@metu.edu.tr
E. Ilhan Konukseven
Affiliation:
Mechanical Engineering Department, Middle East Technical University, Ankara, Turkey E-mails: kbugra@metu.edu.tr, konuk@metu.edu.tr
*
*Corresponding author. E-mail: gbayar@gmail.com
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Summary

Studying wheel and ground interaction during motion has the potential to increase the performance of localization, navigation, and trajectory tracking control of a mobile robot. In this paper, a differential mobile robot is modeled in a way that (traction, rolling, and lateral) wheel forces are included in the overall system dynamics. Lateral wheel forces are included in the mathematical model together with traction and rolling forces. A least square parameter estimation process is proposed to estimate the parameters of the wheel forces. In order to implement the proposed methodologies, an experimental setup is used. The setup contains a differentially driven mobile robot, a specially constructed test surface, and a camera system attached at the top of surface for obtaining ground truth. Models having one or more wheel forces are simulated to find the most realistic model. Simulation results are verified by experiments.

Keywords

Mobile robotDifferential driveWheel forcesParameter estimation
Type
Articles
Information
Robotica , Volume 33 , Issue 10 , December 2015 , pp. 2204 - 2220
Copyright
Copyright © Cambridge University Press 2014 

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