Path Tracking Control of Wheeled Mobile Robots

Abstract Kinematic modeling of WMR is considered regarding the choice of the generalized coordinates and the control variables, so that the model is independent of the particular design, structure, number of wheels, etc. Three methods for kinematic control are proposed, based on: (i) transformation of the model as seen from the moving coordinate frame associated with the desired motion and Taylor series linearization; (ii) model order reduction, and (iii) direct Lyapunov synthesis. The results are evaluated via numerical simulation of a WMR with two driven wheels and a passive castor

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