NDLI: Modeling and analysis of wheel mobile robot for high-speed precise drift

Content Provider	IEEE Xplore Digital Library
Author	Hongpeng Wang Lei Zhao Yun Yang Yinhui Yan Jingtai Liu
Copyright Year	2012
Description	Author affiliation: Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071 (Hongpeng Wang; Lei Zhao; Yun Yang; Yinhui Yan; Jingtai Liu)
Abstract	At present, autonomous motion control for high-speed mobile robot is one of bottlenecks that restrict the development of mobile robot technology. It is very dangerous when the vehicle is in a instable drift state, in which state it is difficult to model and realize effective control. Therefore, general high-grade cars take measures, such as ABS technology, to curb drift in order to make the car stable when turning. This paper takes a research on the technology of "high precision drift control", which make it controllable to turn in a high-speed drift state for wheeled mobile robots. The maneuverability of high-speed mobile robot can be performed completely in theory. Firstly, this paper analyzes the mechanism of drift movement, and then models the process of mobile robot drift. Finally, we make a series of simulation for the high precision drift based on Matlab to verify the accuracy of the model.
Starting Page	5064
Ending Page	5069
File Size	637539
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Analytical models High-speed Wheel Mobile Robot Wheels Electronic mail Mobile robots Mathematical model MATLAB Modeling Precise Drift
Content Type	Text
Resource Type	Article

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