Multivariable mobile robot motion controller

• Main Author: Okullo Oballa, Thomas S.
• Other Authors: Chin, Leonard
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/19552
• Institution: Nanyang Technological University

This thesis presents a new architecture for a cross-coupled motion controller for a mobile robot. It is applicable to mobile robots driven by DC motors with the differential drive configuration. This configuration is very flexible as it permits both linear motion and steering to be controlled by the...