Abstract:
This article deals with the problem of the trajectory control of wheeled mobile robots in presence of moving external objects. A procedure of the controllers design based...Show MoreMetadata
Abstract:
This article deals with the problem of the trajectory control of wheeled mobile robots in presence of moving external objects. A procedure of the controllers design based on stabilisation of geometric manifolds using transformation of the mathematical model to the task-oriented basis without velocities measure is proposed. Efficiency of proposed algorithms is proven by numerical simulation results and experimental implementation on wheeled mobile robot.
Published in: 2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)
Date of Conference: 26-29 August 2019
Date Added to IEEE Xplore: 14 October 2019
ISBN Information: