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arXiv · 2011.01066

Application of Kalker Theory of Rolling Contact for Dynamic Simulation of Mobile Robots

Jaswin·Indrawanto
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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.

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Jaswin, Indrawanto. 2020-11-02. Application of Kalker Theory of Rolling Contact for Dynamic Simulation of Mobile Robots. https://arxiv.org/abs/2011.01066

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