Application of Kalker Theory of Rolling Contact for Dynamic Simulation of Mobile Robots

TL;DR

This paper develops a dynamic simulation model for steerable-wheel mobile robots incorporating wheel slip, using Kalker’s simplified rolling contact theory, and compares two friction models through simulation results.

Contribution

It introduces a novel application of Kalker’s linear theory to simulate wheel-ground contact in mobile robots with slip, and compares different friction models.

Findings

Simulation results highlight differences between the two friction models.

The model effectively captures wheel slip dynamics.

Kalker’s theory provides a simplified yet accurate approach.

Abstract

This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to describe friction-creepage relationship between the robot wheel and the ground. Two simulations were created based on the two friction models. Simulation results of the two models are presented and compared.