An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematical...

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Main Authors: Andrea Botta, Paride Cavallone, Luigi Tagliavini, Luca Carbonari, Carmen Visconte, Giuseppe Quaglia
Format: Article
Language:English
Published: MDPI AG 2021-02-01
Series:Applied Sciences
Subjects:
mobile robots
tractor-trailer
wheel slip compensation
kinematics
Online Access:https://www.mdpi.com/2076-3417/11/4/1594
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spelling doaj-ac292b85e3c447ddbe199d7aae023e342021-02-11T00:01:07ZengMDPI AGApplied Sciences2076-34172021-02-01111594159410.3390/app11041594An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral SlipAndrea Botta0Paride Cavallone1Luigi Tagliavini2Luca Carbonari3Carmen Visconte4Giuseppe Quaglia5Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, ItalyIn this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.https://www.mdpi.com/2076-3417/11/4/1594mobile robotstractor-trailerwheel slip compensationkinematics
collection DOAJ
language English
format Article
sources DOAJ
author Andrea Botta
Paride Cavallone
Luigi Tagliavini
Luca Carbonari
Carmen Visconte
Giuseppe Quaglia
spellingShingle Andrea Botta
Paride Cavallone
Luigi Tagliavini
Luca Carbonari
Carmen Visconte
Giuseppe Quaglia
An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip
Applied Sciences
mobile robots
tractor-trailer
wheel slip compensation
kinematics
author_facet Andrea Botta
Paride Cavallone
Luigi Tagliavini
Luca Carbonari
Carmen Visconte
Giuseppe Quaglia
author_sort Andrea Botta
title An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip
title_short An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip
title_full An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip
title_fullStr An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip
title_full_unstemmed An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip
title_sort estimator for the kinematic behaviour of a mobile robot subject to large lateral slip
publisher MDPI AG
series Applied Sciences
issn 2076-3417
publishDate 2021-02-01
description In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.
topic mobile robots
tractor-trailer
wheel slip compensation
kinematics
url https://www.mdpi.com/2076-3417/11/4/1594
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