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Modeling and control of a 4-wheel skid-steering mobile robot

100%
Kozłowski K., Pazderski D.
International Journal of Applied Mathematics and Computer Science
|
2004
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tom 14
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nr 4
477-496
EN
A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
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Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

81%
Michałek M., Dutkiewicz P., Kiełczewski M., Pazderski D.
International Journal of Applied Mathematics and Computer Science
|
2009
|
tom 19
|
nr 4
547-559
EN
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.
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