Coordinated kinematic motion control of Compliant Framed wheeled Modular Mobile Robots

This paper presents coordinated kinematic motion control of a compliant framed wheeled modular mobile robot (CFMMR). Two coordination algorithms are demonstrated here based upon front and rear axles. An error coordinate system is applied to an ideal point on the robot that will be driven to a reference posture or target for motion control. Posture regulation, path following, and trajectory tracking capability is provided by a kinematic motion controller. Axle motion of the robot is then coordinated using a steering ratio and compliant constraints. The allowable steering ratios are established considering path curvature, steering angle limitations, and steering stability. Coordination algorithms are finally evaluated in simulation and experiment on the CFMMR.