Positioning of Two-Wheeled Mobile Robot to Control Wheelslip by Using the Wheel Rotate Planning Technique

摘要

The prediction of proper position x, y coordinate points of two-wheeled mobile robot wheel axle basically depends on the number of wheels rotating. The accurate wheel rotation gives the appropriate pose for a wheeled mobile robot. It is mostly used for simple and inexpensive implementation for determining the precise x, y coordinates to reach the angularity based target (45°, 135°, 225°, 315°) within time and also control the four main affecting factors such as wheel slip, deviation from passage, target reaching time, loss of energy etc., The aim of the research is preventive control position of wheeled mobile robot to be focus on the reaching target. Mostly the straight line movement gives controlling the affecting factors like wheel slip, odometry, vibrations are comparing with elliptical path movement. The wheel rotate planning technique gives the position of robot. The wheel rotate planning techniques is considering one wheel fixed and one wheel rotating methodology is used in target reaching. This research considers the influencing parameters of navigation such as number of left side wheel rotations, number of right side wheel rotations, both wheels (opposite) rotations. These research results were obtained based on the analysis of centripetal force law contributions for predicting the robot's suitable wheel axle position and is to generate a robot to reach the target with minimum wheel slip.