Simplified Wheel Slip Modeling and Estimation for Omnidirectional Vehicles
2022 IEEE 17th International Conference on Advanced Motion Control (AMC)(2022)
摘要
This paper presents the development of a low-complexity wheel slip-based vehicle model for an omnidirectional vehicle equipped with Mecanum wheels that is suited for optimal control. Augmenting a vehicle model with wheel slip properties allows for better trajectory tracking, while the reduced model complexity allows for manageable parameter estimation and motion planning with lower computation tim...
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关键词
motion planning,friction,parameter estimation,mobile robots
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