A Posture Control for Two Wheeled Mobile Robots

摘要

A Posture Control for Two Wheeled Mobile Robots Hyun-Sik Shim and Yoon-Gyeoung Sung Abstract: In this paper, a posture control for nonholonomic mobile robots is proposed with an empirical basis. In order to obtain fast and consecutive motions in realistic applications, the motion requirements of a mobile robot are de ned. Under the assumption of a velocity controller designed with the selection guidance of control parameters, the algorithm of posture control is presented and experimentally demonstrated for practicality and effectiveness.