Authors:
Frederico C. Vieira
;
Adelardo A. D. Medeiros
;
Pablo J. Alsina
and
Antônio P. Araújo Jr.
Affiliation:
Federal University of Rio Grande do Norte, Brazil
Keyword(s):
Nonholonomic robots, robot control, stabilization control, linear modeling of robots.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper addresses the dynamic stabilization problem of a two-wheeled differentially driven nonholonomic mobile robot. The proposed strategy is based on changing the robot control variables from x, y and Ɵ to s and Ɵ, where s represents the robot linear displacement. Using this model, the nonholonomic constraints disappear and we show how the linear control theory can be used to design the robot controllers. This control strategy only needs the robot localization (x, y, Ɵ), not requiring any velocity measurement or estimation. The complete derivation of the control strategy and some simulated results are presented.