Currently, the plant model assumes that the drive wheels never slip relative to the ground. (ie, coefficent of static friction between ground and wheels is infinite)
Update plant model to allow for wheel slip. Must model that some force is transferred during slip. Model behavior should be unchanged from current during no-slip conditions. Robot state should have two new variables indicating whether the left or right sides (or both) are slipping or not slipping (in kinetic or static coefficent of friction domains)
Add config values for static and kinetic coefficients of friction along the direction of wheel rotation. Assume we're using wheels like these: http://www.andymark.com/product-p/am-0438.htm (there may be more searching for datasheets required...)
Currently, the plant model assumes that the drive wheels never slip relative to the ground. (ie, coefficent of static friction between ground and wheels is infinite)
Update plant model to allow for wheel slip. Must model that some force is transferred during slip. Model behavior should be unchanged from current during no-slip conditions. Robot state should have two new variables indicating whether the left or right sides (or both) are slipping or not slipping (in kinetic or static coefficent of friction domains)
Add config values for static and kinetic coefficients of friction along the direction of wheel rotation. Assume we're using wheels like these: http://www.andymark.com/product-p/am-0438.htm (there may be more searching for datasheets required...)