Simulation and Experimental Results of a New Control Strategy for Point Stabilization of Nonholonomic Mobile Robots

Ernesto Fabregas, GONZALO ALBERTO FARIAS CASTRO, Ernesto Aranda-Escolástico, Gonzalo Garcia, Dictino Chaos, Sebastián Dormido-Canto, Sebastián Dormido Bencomo

Research output: Contribution to journalArticlepeer-review

7 Scopus citations

Abstract

This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.

Original languageEnglish
Article number8809888
Pages (from-to)6679-6687
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume67
Issue number8
DOIs
StatePublished - Aug 2020
Externally publishedYes

Keywords

  • Differential wheeled mobile robots
  • position control

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