Trajectory tracking of steering system mobile robot

• Main Authors: Mohd. Amin, Shamsudin, Abdul Rashid, Husain, Sanhoury, I. M. H.
• Format: Book Section
• Published: IEEE 2011
• Subjects: QA75 Electronic computers. Computer science; T Technology (General)
• Online Access: http://eprints.utm.my/id/eprint/30196/; http://dx.doi.org/10.1109/ICOM.2011.5937124
• Institution: Universiti Teknologi Malaysia

In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the or...