STEERING AND CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS USING ARTIFICIAL FIELDS

Abstract

Steering places an important role in control of nonholonomic wheeled mobile robots (WMRs).In this paper, we use artificial fields to steer and control the steering angle and derive a linear velocity control law to guarantee the optimal convergent trajectory. The proposed approach can be used to realize arbitrary point to point stabilization, trajectory tracking and path following. Easy design, fast convergence, and adaptability to other nonholonomic mobile bases are also its obvious advantages compared to some existing methods.