Trajectory tracking control of mobile robots without using longitudinal velocity measurements

Abstract

We propose a new robust trajectory tracking control scheme for wheeled mobile robots without longitudinal velocity measurements. In the proposed controller, a velocity observer is used to estimate the longitudinal velocity of a wheeled mobile robot. A wheeled mobile robot model, including motor dynamics, is used to develop the controller. The developed… (More)
DOI: 10.1007/s10015-009-0680-3

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