NDLI: The kinematic analysis and simulation for four-wheel independent drive mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Yang Yun Wang Hongpeng Liu Jintai Li Baojiong Yan Yinhui
Copyright Year	2011
Description	Author affiliation: Institute of Robotics and Automatic Information System of Nankai University, Tianjin 300071, China (Yang Yun; Wang Hongpeng; Liu Jintai; Li Baojiong; Yan Yinhui)
Abstract	This article takes the four-wheel independent driving mobile robots as research object, uses the point method and the instantaneous center method to analysis its state of motion with its four different wheel speed, and construct its kinematic model which is different with two differential steering mobile robots or the kinematic model that makes the same side sliding steering wheel speed assumption. The we research the trajectory tracking control method for the four-wheel independent driving mobile robot, as its system is complex and nonlinear, general control methods can't achieve rapid and effective control, thus this paper proposed the model-based nonlinear control method for this system. Finally, on the basis of the kinematic model we make a series of simulation for the four-wheel independent driving mobile robot, and add the nonlinear control method for tracking test. The simulation results confirm the effectiveness of the proposed kinematic model and trajectory tracking method.
Starting Page	3958
Ending Page	3963
File Size	372788
Page Count	6
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Tracking Wheels Four-wheel independent drive Kinematics Trajectory Electronic mail Nonliear Mobile robots Mobile robot Information systems
Content Type	Text
Resource Type	Article

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