The Effect of an Off-Centered Orientable Wheel on Motion Characteristics of a Mobile Robot

Abstract

This paper discusses a comprehensive model of a mobile robot with a no-slip self-adjusting off-centered orientable wheel. Subsequently, by application of dynamic control, a comparison is made between two robot models: one accounting for the effect of the off-centered orientable wheel and another one excluding this effect. The aspects considered in the study include not only the error resulting from the drive along a given trajectory but also the consumption of energy of the compared models.