Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system
Maciej Michałek, Piotr Dutkiewicz, Marcin Kiełczewski, Dariusz Pazderski (2009)
International Journal of Applied Mathematics and Computer Science
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The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip...