MOTION CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOT IN A STRUCTURED LAYOUT
Keywords:
Active fo rce control, motion planning, nonholonomic WMR, resolved motion acceleration control.Abstract
This paper describes the incorporation of active f orce control (AFC) scheme into two
different resolved motion accelerat ion control (RMAC) models, i.e. RMAC with
proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus-
derivative (RMAC-PID). The two newly fo rmulated control models are subsequently
implemented as the prop osed motion controllers f or the nonholonomic wheeled mobile
robot (WMR). By embedding AFC into both the RMAC schemes, the performance of the
robotic system was studied in which the WMR was required to track a collision-free
trajectory in a structured layout that has been prescribed by a trajectory planner. The
effectiveness of both the controllers were then experimented and compared to determine
the accuracy and trackability of the WMR. The WMR was also subjected to disturbances
f or the testing of the system robustness. With appropriately computed inertia matrix and
fin ely tuned RJ\ fAC control param eters, the WMR was fou nd to be vel)' robust and
effective in traj ectory tracking task in spite ofthe complexity ofthe operating and loading
conditions.
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