Experimental Tracking and Stabilization of a Unicycle Mobile Robot
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چکیده
Wheeled mobile robots are increasingly present in industrial and service robotics, requiring adequate solutions for the motion control problem. With reference to the unicycle kinematics, several control strategies for trajectory tracking and posture stabilization are reviewed and compared on simulation and experimental level. Experiments are reported for BellyBot, a two-wheel differentially-driven mobile robot, available in the Dynamics and Control laboratory. In order to obtain reliable experimental results, several improvements are made to the existing setup and software.
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تاریخ انتشار 2005