Chapter 2 Rough Terrain Mobile Robot Modeling and Estimation

Abstract

Kinematic and dynamic modeling are fundamental aspects of mobile robot analysis, motion planning, and control. Traditionally, for robots operating on level, smooth surfaces (e.g. laboratory, factory, or hospital floors), kinematic and dynamic models rely on knowledge of robot design parameters such as wheel diameter and spacing, inertial parameters, motor characteristics, etc. This information can then be used to develop models that yield insights about robot mobility. Such models can also be used as a basis for motion planning and control algorithms.