Modeling and Path-Tracking for a Wheeled Mobile RobotF 4BModelado en Tiempo Discreto y Seguimiento de Trayectorias para un Robot Móvil Populsado por Ruedas

Abstract

1 B Abstract The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path-tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype.

8 Figures and Tables

Cite this paper

@inproceedings{VillaFF2015ModelingAP, title={Modeling and Path-Tracking for a Wheeled Mobile RobotF 4BModelado en Tiempo Discreto y Seguimiento de Trayectorias para un Robot Móvil Populsado por Ruedas}, author={Martin Velasco VillaFF and Eduardo Aranda - Bricaire and Rodolfo Orosco Guerrero}, year={2015} }