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.
@article{bwmeta1.element.bwnjournal-article-amcv19i4p547bwm,
author = {Maciej Micha\l ek and Piotr Dutkiewicz and Marcin Kie\l czewski and Dariusz Pazderski},
title = {Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system},
journal = {International Journal of Applied Mathematics and Computer Science},
volume = {19},
year = {2009},
pages = {547-559},
zbl = {1300.93121},
language = {en},
url = {http://dml.mathdoc.fr/item/bwmeta1.element.bwnjournal-article-amcv19i4p547bwm}
}
Maciej Michałek; Piotr Dutkiewicz; Marcin Kiełczewski; Dariusz Pazderski. Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system. International Journal of Applied Mathematics and Computer Science, Tome 19 (2009) pp. 547-559. http://gdmltest.u-ga.fr/item/bwmeta1.element.bwnjournal-article-amcv19i4p547bwm/
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