Modelling and control aspects of specific mobile robot

Authors

  • M. Nitulescu University of Craiova
  • V. Stoian University of Craiova

Abstract

This work presents some considerations regarding mathematical models and control solutions for a class of mobile robots namely two-wheel differential drive mobile robots, one of the most utilized mechanical structures now in mobile robotics practice. The closed loop control dia-grams for position control and respectively for direction control in tracking along imposed trajectories are also ana-lyzed and included in this paper. For these control solu-tions, the paper presents therefore some analyses regarding the stability in different circumstances.

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Published

2008-02-19

Issue

Vol. 69 No. 1 (2008)

Section

Articles

License

The copyright for the articles in this journal is retained by the author(s) with the first publication right granted to the journal. The journal is licensed under the Creative Commons Attribution License 4.0 (CC BY 4.0).