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

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.