Mobile robot adaptive trajectory control: Non-linear path model inverse transformation for model reference

摘要: In particular, service robotics is strongly tided to highly accurate navigational tasks where pathway tracking a practice commonly carried out through control algorithms. This study proposes theoretical non-linear pathways presented as kth-degree polynomials model references. Our proposal establishes proportional with variable reference at the level of second order derivatives which robot's motion adapted on-line. The fixed frame Cartesian trajectory inversely transformed wheels' angular acceleration components, are models. Although, our may be applied any type wheeled kinematic structure, we presenting an example two active wheels differential velocity modality. Obtained results raised from successful experimental and numerical simulations well, depict capability proposed control.