Direction and control adjustment for smooth motion of wheeled mobile robots
by L. Huang
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 8, No. 1/2/3/4, 2010

Abstract: Control of wheeled mobile robots (differential or steering wheel structure) has been studied extensively in the last decades, and many control strategies were proposed for various applications. This paper will present the solutions to two issues encountered in the implementation of the controllers: over corrections of the robot's heading direction and saturation of the control efforts. The solutions to the problems and their experimental verifications are provided.

Online publication date: Fri, 11-Dec-2009

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