Geodesic
Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
International Journal of Applied Mathematics and Computer Science, Tome 19 (2009) no. 4, pp. 547-559.

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The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
Keywords: differentially driven mobile robot, skid-slip compensation, trajectory tracking, vector fields
Mots-clés : robot mobilny, śledzenie trajektorii, pole wektorowe 
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Michałek, M.; Dutkiewicz, P.; Kiełczewski, M.; Pazderski, D. Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system. International Journal of Applied Mathematics and Computer Science, Tome 19 (2009) no. 4, pp. 547-559. http://geodesic.mathdoc.fr/item/IJAMCS_2009_19_4_a2/

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