{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T16:35:10Z","timestamp":1759941310229,"version":"3.40.4"},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2014,6,3]],"date-time":"2014-06-03T00:00:00Z","timestamp":1401753600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Studying wheel and ground interaction during motion has the potential to increase the performance of localization, navigation, and trajectory tracking control of a mobile robot. In this paper, a differential mobile robot is modeled in a way that (traction, rolling, and lateral) wheel forces are included in the overall system dynamics. Lateral wheel forces are included in the mathematical model together with traction and rolling forces. A least square parameter estimation process is proposed to estimate the parameters of the wheel forces. In order to implement the proposed methodologies, an experimental setup is used. The setup contains a differentially driven mobile robot, a specially constructed test surface, and a camera system attached at the top of surface for obtaining ground truth. Models having one or more wheel forces are simulated to find the most realistic model. Simulation results are verified by experiments.<\/jats:p>","DOI":"10.1017\/s0263574714001386","type":"journal-article","created":{"date-parts":[[2014,6,3]],"date-time":"2014-06-03T14:10:31Z","timestamp":1401804631000},"page":"2204-2220","source":"Crossref","is-referenced-by-count":6,"title":["Dynamic modeling and parameter estimation for traction, rolling, and lateral wheel forces to enhance mobile robot trajectory tracking"],"prefix":"10.1017","volume":"33","author":[{"given":"Gokhan","family":"Bayar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. Bugra","family":"Koku","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"E. Ilhan","family":"Konukseven","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,6,3]]},"reference":[{"key":"S0263574714001386_ref25","doi-asserted-by":"crossref","unstructured":"E. Bakker , H. B. Pacejka and L. Lidner , \u201cA new tire model with an application in vehicle dynamic studies,\u201d Society of Automotive Engineers, paper 890087 (1989).","DOI":"10.4271\/890087"},{"key":"S0263574714001386_ref23","doi-asserted-by":"crossref","DOI":"10.3998\/mpub.9690401","volume-title":"Theory of Land Locomotion: the Mechanics of Vehicle Mobility","author":"Bekker","year":"1956"},{"volume-title":"Tire and Vehicle Dynamics","year":"2006","author":"Pacejka","key":"S0263574714001386_ref22"},{"key":"S0263574714001386_ref17","first-page":"1982","volume-title":"Proceedings of the 7th World Congress on Intelligent Control and Automation","author":"Han","year":"2008"},{"volume-title":"Proceedings of the 38th IEEE Conference on Decision and Control","year":"1999","author":"Wit","key":"S0263574714001386_ref16"},{"volume-title":"Theory of Ground Vehicles","year":"2001","author":"Wong","key":"S0263574714001386_ref10"},{"key":"S0263574714001386_ref11","first-page":"2690","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Yun","year":"1995"},{"key":"S0263574714001386_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.345944"},{"key":"S0263574714001386_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2005.858624"},{"key":"S0263574714001386_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.897800"},{"key":"S0263574714001386_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.1019459"},{"key":"S0263574714001386_ref18","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20187"},{"key":"S0263574714001386_ref14","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20113"},{"key":"S0263574714001386_ref19","first-page":"1288","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Yun","year":"1993"},{"key":"S0263574714001386_ref27","first-page":"145","volume-title":"Proceedings of the 2nd International Colloquium on Tyre Models for Vehicle Dynamic Analysis","author":"Pacejka","year":"1997"},{"key":"S0263574714001386_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.886277"},{"key":"S0263574714001386_ref28","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199710)14:10<697::AID-ROB1>3.0.CO;2-P"},{"key":"S0263574714001386_ref5","first-page":"2632","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Caracciolo","year":"1999"},{"key":"S0263574714001386_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924945"},{"key":"S0263574714001386_ref26","first-page":"1","volume-title":"Proceedings of the 26th FISITA Congress","author":"Pacejka","year":"1996"},{"key":"S0263574714001386_ref3","first-page":"7","volume-title":"Proceedings of the IEEE Symposium on Computational Intelligence in Control and Automation","author":"Tian","year":"2009"},{"key":"S0263574714001386_ref13","doi-asserted-by":"publisher","DOI":"10.1117\/12.474457"},{"key":"S0263574714001386_ref15","first-page":"2255","volume-title":"Proceedings of the SICE Annual Conference","author":"Song","year":"2004"},{"key":"S0263574714001386_ref24","doi-asserted-by":"crossref","unstructured":"E. Bakker , L. Nyborg and H. B. Pacejka , \u201cTyre modelling for use in vehicle dynamic studies,\u201d Society of Automotive Engineers, paper 870421 (1987).","DOI":"10.4271\/870421"},{"key":"S0263574714001386_ref7","doi-asserted-by":"crossref","first-page":"2605","DOI":"10.1109\/ROBOT.2007.363858","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Yi","year":"2007"},{"volume-title":"Proceedings of the 3rd International Conference on Mechatronics","year":"2008","author":"Sidek","key":"S0263574714001386_ref4"},{"key":"S0263574714001386_ref21","first-page":"240","volume-title":"IEEE Intelligent Vehicles Symposium","author":"Ploeg","year":"2008"},{"key":"S0263574714001386_ref12","first-page":"6962","volume-title":"Unmanned Systems Technology X","author":"Ray","year":"2008"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001386","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,3]],"date-time":"2025-05-03T06:30:55Z","timestamp":1746253855000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.cambridge.org\/core\/product\/identifier\/S0263574714001386\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,6,3]]},"references-count":28,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2015,12]]}},"alternative-id":["S0263574714001386"],"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1017\/s0263574714001386","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2014,6,3]]}}}