Application of Kalker Theory of Rolling Contact for Dynamic Simulation of Mobile Robots
Systems and Control
2020-11-03 v1 Systems and Control
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.
Cite
@article{arxiv.2011.01066,
title = {Application of Kalker Theory of Rolling Contact for Dynamic Simulation of Mobile Robots},
author = {Jaswin and Indrawanto},
journal= {arXiv preprint arXiv:2011.01066},
year = {2020}
}