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Trajectory tracking control of a four-wheel differentially driven mobile robot

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3 Author(s)
L. Caracciolo ; Dipt. di Inf. e Sistemistica, Rome Univ., Italy ; A. de Luca ; S. Iannitti

We consider the trajectory tracking control problem for a 4-wheel differentially driven mobile robot moving on an outdoor terrain. A dynamic model is presented accounting for the effects of wheel skidding. A model-based nonlinear controller is designed, following the dynamic feedback linearization paradigm. An operational nonholonomic constraint is added at this stage, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The controller is then robustified, using conventional linear techniques, against uncertainty in the soil parameters at the ground-wheel contact. Simulation results show the good performance in tracking spline-type trajectories on a virtual terrain with varying characteristics

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999