POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT

Frederico C. Vieira, Adelardo A. D. Medeiros, Pablo J. Alsina, Antônio P. Araújo Jr.

2004

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.

Paper Citation

in Harvard Style

Vieira F., Medeiros A., Alsina P. and Araújo Jr. A. (2004). POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 256-262. DOI: 10.5220/0001138702560262

in Bibtex Style

@conference{icinco04,
author={Frederico C. Vieira and Adelardo A. D. Medeiros and Pablo J. Alsina and Antônio P. Araújo Jr.},
title={POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={256-262},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001138702560262},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT
SN - 972-8865-12-0
AU - Vieira F.
AU - Medeiros A.
AU - Alsina P.
AU - Araújo Jr. A.
PY - 2004
SP - 256
EP - 262
DO - 10.5220/0001138702560262