论文标题
Kalker滚动接触理论用于移动机器人的动态模拟
Application of Kalker Theory of Rolling Contact for Dynamic Simulation of Mobile Robots
论文作者
论文摘要
本文介绍了带轮滑动的可驾驶轮移动机器人的动态模拟的推导。该机器人是使用纯Pursuit算法控制的。 Kalker简化了滚动接触的线性理论来描述机器人轮与地面之间的摩擦关系。基于两个摩擦模型创建了两个模拟。提出并比较了两个模型的仿真结果。
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.
