Feedback Linearization of the Differentially Driven Mobile Robot: An Experimental Verification
In this paper experimental verification of the input-output feedback linearization of differentially driven mobile robot is presented. This technique is especially useful in multi-level formation control because it allows to separate platform motion control from the formation control. It also allows high level controller not to be aware of the type of the robot. The disadvantage of this method is that the orientation cannot be directly controled. In the paper experiments aimed at selecting the appropriate value of so-called hand position that is design parameter for the feedback linearization are presented.
KeywordsMobile Robot Hand Position Feedback Linearization Wheel Velocity Wheel Mobile Robot
Unable to display preview. Download preview PDF.
- 1.Isidori, A.: Nonlinear control systems. Springer (1995)Google Scholar
- 2.Kowalczyk, W., Kozłowski, K.R.: The Israeli Conference on Robotics Teleoperation of the group of mobile robots, Tel Aviv, Israel (November 2013)Google Scholar
- 3.Kowalczyk, W., Kozłowski, K.: Artificial potential based control for a large scale formation of mobile robots, pp. 285–291 (June 17, 2004)Google Scholar
- 5.Khoukhi, A., Shahab, M.: Stabilized Feedback Control of Unicycle Mobile Robots. International Journal of Advanced Robotic Systems 10, 187 (2013)Google Scholar
- 6.Carona, R., Aguiar, A.P., Gaspar, J.: Control of Unicycle Type Robots. Tracking, Path Following and Point Stabilization. In: Proc. of IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, Lisbon, Portugal, pp. 180–185 (November 2008)Google Scholar
- 7.DeVon, D., Bretl, T.: Kinematic and Dynamic Control of a Wheeled Mobile Robot. In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, October 29-November 2, pp. 4065–4070 (2007)Google Scholar