Path following of a 2-DOF wheeled mobile robot under path and input torque constraints

Abstract

The problem of controlling a two-degree of freedom wheeled mobile robot (2-DOF WMR) under path and input torque constraints is examined. Path constraints are imposed by the task to be performed while input torque constraints are due to power limitations in the motor actuators. A dynamic control design based on a two-dimensional WMR model (tangential navigation velocity and orientation) and on recent results concerning online reference profile generation obtained by O. Dahl and L. Nielsen (1989) is proposed. The capabilities of this method are investigated through simulations and experiments performed on the micro-WMR KITBORG.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>