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2015年 第16卷 第2期

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《信息与电子工程前沿（英文）》 >> 2015年 第16卷 第2期 doi: 10.1631/FITEE.1400183

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

1. Division of Theory of Machines and Robots, Warsaw University of Technology, Warsaw 00-661, Poland.2. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova 16163, Italy.3. Department of Electrical Engineering, COMSATS Institute of Information Technology, Islamabad 44000, Pakistan.4. Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Cassino 03043, Italy

发布日期： 2015-03-05
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This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

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