Author:
Conceicao Andre G. S.,Correia Mariane D.,Martinez Luciana
Abstract
SUMMARYIn this study, a model for wheeled mobile robots that includes a static friction model in the force balance at the robot's center of mass is presented. Additionally, a least-squares method to linearly combine functions is proposed to estimate the friction coefficients. The experimental and simulation results are discussed to demonstrate the effectiveness of this approach in indoor environments for two floor types.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
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