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Modeling and path-tracking control of a mobile wheeled robot with a differential drive

Published online by Cambridge University Press:  09 March 2009

R. M. DeSantis
R. M. DeSantis
Affiliation:
Ecole Polytechnique de Montreal, DEGEGI, 2900 Edouard Montpetit, Montreal (Canada) H3C 3A7
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Summary

Topics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.

Keywords

Mobile robotsMotion controlPath trackingSlippageAutonomousNon-holonomic constraints.
Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995 , pp. 401 - 410
Copyright
Copyright © Cambridge University Press 1995

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