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Maneuverability and path following control of wheeled mobile robot in the presence of wheel skidding and slipping
Author(s) -
Low Chang Boon,
Wang Danwei
Publication year - 2009
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20329
Subject(s) - slipping , mobile robot , control theory (sociology) , kinematics , global positioning system , robot , controller (irrigation) , path (computing) , engineering , computer science , control engineering , simulation , control (management) , artificial intelligence , physics , mechanical engineering , telecommunications , agronomy , classical mechanics , biology , programming language
This paper addresses the path following control problem of wheeled mobile robots in the presence of wheel skidding and slipping. A conditional global positioning system (GPS)‐based path following controller is proposed for four generic WMRs to achieve high‐precision path following performance. The proposed controller utilizes real‐time kinematic‐GPS and other aiding sensors to determine the robot's pose and wheel skidding and slipping perturbations to achieve accurate path following control. The reported simulation and experimental results suggest that with this control scheme, the WMRs are able to maneuver with precision. © 2009 Wiley Periodicals, Inc.