Adaptive control of nonholonomic wheeled mobile robot

Abstract

A robot's mobility is mainly concerned about its size, surface of motion and way of propagation (wheel). The wheel carries the load and generates the friction between the wheel and surface of motion. The bearing capacity of ground, traction performance of the wheel and geometry of terrain profile are the important factors of wheel topography interaction. In this research, we mainly deal with the system and control concepts of the wheeled mobile robot. The robot's active model is discussed by taking the contact forces of the wheel due to their relative motion of the wheel and contact plane in the account. The results are derived by introducing a dynamic relation, in expressions of the forces, torques and displacements related to wheel terrain interaction. The forces in the system, arising from the interaction between a deformable wheel and rigid terrain are calculated using Ansys14.0. A Matlab-Simulink program is used to simulate the designed system and the results are graphically plotted.