Dynamic modeling and parameter estimation for traction, rolling, and lateral wheel forces to enhance mobile robot trajectory tracking


ROBOTICA, vol.33, no.10, pp.2204-2220, 2015 (Peer-Reviewed Journal) identifier identifier

  • Publication Type: Article / Article
  • Volume: 33 Issue: 10
  • Publication Date: 2015
  • Doi Number: 10.1017/s0263574714001386
  • Journal Name: ROBOTICA
  • Journal Indexes: Science Citation Index Expanded, Scopus
  • Page Numbers: pp.2204-2220
  • Keywords: Mobile robot, Differential drive, Wheel forces, Parameter estimation, SLIP


Studying wheel and ground interaction during motion has the potential to increase the performance of localization, navigation, and trajectory tracking control of a mobile robot. In this paper, a differential mobile robot is modeled in a way that (traction, rolling, and lateral) wheel forces are included in the overall system dynamics. Lateral wheel forces are included in the mathematical model together with traction and rolling forces. A least square parameter estimation process is proposed to estimate the parameters of the wheel forces. In order to implement the proposed methodologies, an experimental setup is used. The setup contains a differentially driven mobile robot, a specially constructed test surface, and a camera system attached at the top of surface for obtaining ground truth. Models having one or more wheel forces are simulated to find the most realistic model. Simulation results are verified by experiments.