Dynamic modelling and control of wheeled mobile robots theory and experiment

摘要

Very little experimental investigation has been reported in the recent research in dynamic modelling and control of wheeled mobile robots (WMR). To address the issue of experimentation several prototype vehicles (CONCIC I to III) have been built to supplement the research program at the Centre for Industrial Control of Concordia University in this area. The paper concentrates on the latest development of CONCIC III. A control strategy is proposed for path tracking and its implementation. Some initial but promising results obtained from the dynamic model and experimental data are presented, showing the accuracy of the dynamic model as well as the effectiveness of the control algorithm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>