A Drift Control Method for High-speed Wheeled Mobile Robot Based on Dynamic Model

A drift control method is presented for high-speed wheeled mobile robot. Firstly, the dynamic model of mobile robot under complex conditions is established based on the uniform tire model. Subsequently, while the dynamic model is nonlinear and strongly coupled, a drift controller is designed based on the dynamic model by using feedback linearization method. This controller is able to track some desired posture and angular velocity. As common measure methods, such as vision, GPS, do not have good real-time performance, a position-velocity-measurement-unit is designed to serve for the task of drifting. The drift controller is validated by simulation and experiments.