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In this paper, a proposal for trajectory generation especially well-suited for wheeled mobile robots (WMRs) is presented. In this proposal (PVLAVPB) linear and angular velocities of the WMR are specified as Bézier polynomials. The PVLAVPB is able to generate smooth complex shapes, which would involve more complicated mathematical algorithms if other trajectory generation methods were used. Also, this...
In this paper, a new approach of the super twisting sliding mode control of nonholonomic mobile robot system is proposed. Computer simulations and real time implementations are performed on a real mobile robot (Pioneer-3DX) with parameter uncertainties and external disturbances. The simulation results and real experiments have shown the improved performance of the proposed controller in terms of a...
In this paper, nonlinear observer based trajectory tracking control for a wheeled mobile robot is proposed. The nonlinear observer is designed for not only an unmeasurable orientation error but current position error. This full-order observer shows robustness to measurement noise. Besides, a controller which exponentially stabilize the tracking error is considered. The controller-observer combination...
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