{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:08Z","timestamp":1754157368210,"version":"3.41.2"},"reference-count":29,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2010,3,8]],"date-time":"2010-03-08T00:00:00Z","timestamp":1268006400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010,3,8]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>This paper aims to propose a suitable motion control method for omni\u2010directional mobile robots (OMRs). In RoboCup competition, the robot moves in a dynamic and oppositional environment, which occurs with high acceleration and deceleration motion frequently, especially for our OMR that slipping is almost inherently encountered in motion. Therefore, the purpose of this paper is to present one improved dynamical model with slip, and then to propose one suitable path\u2010tracking controller based on it, which gives more accurate control result.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A dynamic modeling method for OMRs based on the theory of vehicle dynamics is proposed. By analyzing the wheel contact friction forces both in the wheel hub rolling direction and in the roller rolling direction, an amendatory dynamics model is presented. This model is introduced into the computed\u2010torque\u2010like\u2010controller (CTLC) system to solve the path\u2010tracking problem.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>An amendatory dynamics model with slip is analyzed and introduced into the CTLC system to solve the path tracking problem for OMR in this paper. The anti\u2010disturbance ability and the trajectory tracking effect of the proposed motion control method are proven through simulations and experiments.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The proposed path tracking control method based on one improved dynamic model with slip is applied successfully to achieve effective motion control for one four\u2010wheel OMR, which is suitable for any kind of OMR.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>One amendatory dynamics model including slipping between the wheels and ground is presented. Based on the above\u2010slipping model, one CTLC is implemented to solve the path\u2010tracking problem for one four\u2010wheel OMR.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911011018975","type":"journal-article","created":{"date-parts":[[2010,2,20]],"date-time":"2010-02-20T07:02:29Z","timestamp":1266649349000},"page":"193-201","source":"Crossref","is-referenced-by-count":15,"title":["The path\u2010tracking controller based on dynamic model with slip for one four\u2010wheeled OMR"],"prefix":"10.1108","volume":"37","author":[{"given":"Yanwen","family":"Huang","sequence":"first","affiliation":[]},{"given":"Qixin","family":"Cao","sequence":"additional","affiliation":[]},{"given":"Chuntao","family":"Leng","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012120392631200_b5","doi-asserted-by":"crossref","unstructured":"Cao, Q., Huang, Y. and Leng, C. 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