TRAJECTORY TRACKING CONTROL FOR A WHEELED MOBILEROBOT BASED ON VEHICLE ACCELERATION FEEDBACK

Abstract

This paper analyzes the torque disturbance of the wheeled mobile robot due to dynamic uncertainties during motion and presents a sensor based control method for the mobile robot. Based on the real-time measurement of the vehicle's body acceleration using acceleration meters, the vehicle's body acceleration feedback control are implemented. The effectiveness of the method is demonstrated by experiments.