Backstepping control of wheeled mobile robots
A trajectory tracking controller based on the backstepping technique for the PowerBot wheeled mobile robot using the kinematic model is proposed in this paper. The PowerBot is an automated differential drive guided vehicle specially designed and equipped for autonomous, intelligent delivery and hand...
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| Zusammenfassung: | A trajectory tracking controller based on the backstepping technique for the PowerBot wheeled mobile robot using the kinematic model is proposed in this paper. The PowerBot is an automated differential drive guided vehicle specially designed and equipped for autonomous, intelligent delivery and handling of large payloads. The PowerBot is an ideal platform for laboratory and research tasks involving delivery, navigation and manipulation thanks to its top speed of 1.6 m/s and payload capacity of up to 100 kg. Simulations and real-time are used to validate the proposed controller and the results prove the effectiveness of the controller. |
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