네 개의 고정 바퀴가 장착된 자동차 구조 평면형 모바일 로봇의 기구학 모델링

Abstract

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newmanri] does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating translational friction motion into the original algorithm. It is shown that translational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.