Control of nonholonomic wheeled mobile robots by state feedback linearization
International Journal of Robotics Research
Characterization of zero tracking error references in the kinematic control of wheeled mobile robots
Robotics and Autonomous Systems
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In this paper, we have highlighted the importance of the WMR model for designing control strategies. In this sense, the differential model has been used as reference model in order to design the control algorithm. After the control has been design, new actions will be generated for each additional wheel of the real vehicle (non-differential model). This new approach simplifies the overall control systems design procedure. The examples included in the paper, illustrate the more outstanding issues of the designed control. Moreover, we have particularized this control for the line tracking based on a vision system. A velocity control in the longitudinal coordinate has been implemented instead of a position control because we have no longitudinal information. Also, we have simulated and validated this control, studying the effect of the sampling time on the WMR behavior.