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Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented...
In this paper, we consider a multi-robot cooperative control problem via a robust consensus tracking algorithm. The main objective of this paper is to develop and implement a multi-robot formation control testbed and use it to verify the effectiveness of a cooperative control algorithm developed in our recent work. In the robust consensus tracking algorithm, an observer is developed to identify the...
This paper presents control methods and simulation experiments of wheeled skid-steering mobile robot trajectory tracking on the rough terrain. According to dynamics analysis of the robot, a motion constraint of the robot is put forward. To address the issue of uncertain disturbance factors during the robot running on the rough terrain, a practical fuzzy lateral control law is presented, and the globally...
This paper presents an indoor navigation scheme for a skid-steering mobile robot using a low-cost gyro sensor and a monocular camera. Based on the kinematic model under nonholonomic constraint, a motion controller is designed, and so as to account for some uncertainties from the wheel-ground friction and slip, the rotational velocity measurement from a gyro is incorporated into the model. This control...
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