A Tutorial on Modeling and Control of Slippage in Wheeled Mobile Robots
Khuram Naveed
TL;DR
This tutorial provides an in-depth overview of slip and skid issues in wheeled mobile robots, reviewing modeling and control methods, and exploring future trends and applications in modern robotics.
Contribution
It offers a comprehensive review of current modeling and control techniques for slip and skid in WMRs, highlighting future research directions.
Findings
Review of modeling methodologies for slip in WMRs
Analysis of control mechanisms for slip mitigation
Discussion on future applications and trends in WMRs
Abstract
This tutorial intends to present a deep insight of the slip and skid problem in WMRs. Specifically, we present a brief introduction to slippage and the limitations it imposes on WMR's applications. In addition, we shed some light on state of the art review on modeling methodologies and controlling mechanisms for slip and skid in WMRs. This paper also discusses the future trends in the use of WMRs and possibility of new domains in their use in modern world.
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Taxonomy
TopicsControl and Dynamics of Mobile Robots · Robotic Path Planning Algorithms · Robotic Locomotion and Control