TRAJECTORY TRACKING CONTROL FOR 4 WHEEL SKID-STEERING MOBILE ROBOT
Abstract
By applying a nonholonomic constraints and Lagrange equation for nonholonomic system, a method is given to model and control the 4-wheel skid-steering mobile robot which tracks a given trajectory. First at all, a fundamental of nonholonomic system is introduced. Next, the skid steering robot’s kinematic model and dynamic model are considered. To control the robot tracking a trajectory, a new algorithm is given by applying feedback linearization and PD control. In addition, simulation results show the good performance in tracking trajectories.
điểm /
đánh giá
Published
2011-01-07
Issue
Section
ARTILES
Copyright belongs to VNU-HCM “Science and Technology Development” Journal. Any copy or reprinting of any form must be permitted by the Journal.