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Control of Wheeled Mobile Robots: An Experimental Overview

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Ramsete

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 270))

Abstract

The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs). With reference to the unicycle kinematics, we review and compare several control strategies for trajectory tracking and posture stabilization in an environment free of obstacles. Experiments are reported for SuperMARIO, a two-wheel differentially-driven mobile robot. From the comparison of the obtained results, guidelines are provided for WMR end-users.

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Author information

Authors and Affiliations

  1. Dipartimento di Informatica e Sistemistica, Università degli Studi di Roma “La Sapienza”, Via Eudossiana 18, 00184, Roma, Italy

    Alessandro De Luca, Giuseppe Oriolo & Marilena Vendittelli

Authors
  1. Alessandro De Luca
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  2. Giuseppe Oriolo
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  3. Marilena Vendittelli
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Editor information

Editors and Affiliations

  1. Dipartimento di Informatica Sistemi e Produzione, Università di Roma “Tor Vergata”, Via Tor Vergata 110, 00133, Roma, Italy

    Salvatore Nicosia

  2. Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II, Via Claudio 21, 80125, Napoli, Italy

    Bruno Siciliano

  3. Centro “E. Piaggio”, Università di Pisa, Via Diotisalvi 2, 56126, Pisa, Italy

    Antonio Bicchi

  4. Dipartimento di Ingegneria Elettronica e dell’Informazione, Università di Perugia, Via G. Duranti 93, 06125, Perugia, Italy

    Paolo Valigi

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© 2001 Springer-Verlag Berlin Heidelberg

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De Luca, A., Oriolo, G., Vendittelli, M. (2001). Control of Wheeled Mobile Robots: An Experimental Overview. In: Nicosia, S., Siciliano, B., Bicchi, A., Valigi, P. (eds) Ramsete. Lecture Notes in Control and Information Sciences, vol 270. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45000-9_8

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  • DOI: https://doi.org/10.1007/3-540-45000-9_8

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42090-3

  • Online ISBN: 978-3-540-45000-9

  • eBook Packages: Springer Book Archive

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