Dynamic modeling and stabilization of wheeled mobile robot

Abstract

Abstract: This paper presents the dynamic modeling of a nonholonomic mobile robot and the dynamic stabilization problem. The dynamic model is based on the kinematic one including nonholonomic constraints. The proposed control strategy allows to solve the control problem using linear controllers and only requires the robot localization coordinates. This strategy was tested by simulation using Matlab-Simulink. Key-words: Mobile robot, kinematic and dynamic modeling, simulation, point stabilization problem.