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Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

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Michałek M., Dutkiewicz P., Kiełczewski M., Pazderski D.

International Journal of Applied Mathematics and Computer Science

2009

tom 19

nr 4

547-559

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.

Ograniczanie wyników

1 International Journal of Applied Mathematics and Computer Science

1 Dutkiewicz P.

1 Kiełczewski M.

1 Michałek M.

1 Pazderski D.

1 2009

Wyniki wyszukiwania

Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system