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In the present work, a path following control for assistance robots is designed. The driver is designed to help blind people reach a destination through a path. This work is on the premise that person must choose the moment when the robot has to move due to it is using as support. Plus a linear velocity is generated an angular velocity which guides the person along the path, whenever the movement...
In this paper it is proposed a dynamic model of a differential drive mobile robot based on the port-Hamiltonian approach. The model inputs are reference velocities, as in most commercial robots. The model arises from a positioning controller at desired velocities, which is asymptotically stable.
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