MOTION CONTROL ANALYSIS OF A MOBILE ROBOT

A computer-controlled vehicle that is part of a mobile nursing robot system is described. The vehicle applies a motion control strategy that attempts to avoid slippage and min imize position errors. A cross-coupling control algorithm that guaran tees a zero steady-state orientation error (assuming no slippage) is proposed and a stab ility analysis of the control system is presented. Results of experiments performed on a prototype vehicle verify the theoretical analysis.

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