Dynamic Model Formulation and Calibration for Wheeled Mobile Robots

Dynamic Model Formulation and Calibration for Wheeled Mobile Robots

Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally mobile. To fully exploit this mobility, WMR planning, control, and estimation systems require motion models that are fast and accurate. Much of the published theory on WMR modeling is limited to 2D or kinematics, but 3D...

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Bibliographic Details
Main Author: Seegmiller, Neal A.
Format: Others
Published: Research Showcase @ CMU 2014
Subjects:
wheeled mobile robots
kinematics
dynamics
wheel slip
wheel-terrain interaction
calibration
model identification
motion planning
model predictive control
Online Access:http://repository.cmu.edu/dissertations/460
http://repository.cmu.edu/cgi/viewcontent.cgi?article=1460&context=dissertations

Internet

http://repository.cmu.edu/dissertations/460
http://repository.cmu.edu/cgi/viewcontent.cgi?article=1460&context=dissertations

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