This chapter addresses a trajectory tracking control problem of wheeled mobile robots (WMRs) in the style of tutorial, especially focusing on the relationship between modeling and control. The aim of this chapter is to reveal the steam of control of WMRs in the literature to help the development of robust controllers in the presence of slipping and skidding. It is shown that even if the robots are not under nonholonomic constraints, the control strategy for nonholonomic systems is useful for kinematic level controllers. Furthermore, it is emphasized that the backstepping method is attractive to utilize the kinematics-based controller for dynamic models.


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    Title :

    Modeling and Control of Wheeled Mobile Robots: From Kinematics to Dynamics with Slipping and Skidding


    Additional title:

    Intelligent Systems, Cont. (formerly: Microprocessor)


    Contributors:


    Publication date :

    2013-03-16


    Size :

    15 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English







    Kinematics, dynamics and control of wheeled mobile robots

    Yilin Zhao / BeMent, S.L. | IEEE | 1992


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    Free access