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

Applied Sciences

Luigi Tagliavini¹  Carmen Visconte¹  Andrea Botta¹  Giuseppe Quaglia¹  Paride Cavallone¹  Luca Carbonari¹ 

[1] Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, Italy;

关键词: mobile robots;    tractor-trailer;    wheel slip compensation;    kinematics;   

DOI  :  10.3390/app11041594

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown