<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.</p></abstract>

The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.

Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system

Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland

International Journal of Applied Mathematics and Computer Science

The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip...

Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system

Online veröffentlicht: 31. Dez. 2009

Seitenbereich: 547 - 559

DOI: https://doi.org/10.2478/v10006-009-0043-1

Schlüsselwörter
differentially driven mobile robot, skid-slip compensation, trajectory tracking, vector fields

This content is open access.

Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system

Online veröffentlicht: 31. Dez. 2009

Seitenbereich: 547 - 559

DOI: https://doi.org/10.2478/v10006-009-0043-1

Schlüsselwörterdifferentially driven mobile robot, skid-slip compensation, trajectory tracking, vector fields

This content is open access.

Schlüsselwörter
differentially driven mobile robot, skid-slip compensation, trajectory tracking, vector fields