Abstract

VELASCO VILLA, Martin; ARANDA BRICAIRE, Eduardo  and  OROSCO GUERRERO, Rodolfo. Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot. Comp. y Sist. [online]. 2009, vol.13, n.2, pp.142-160. ISSN 2007-9737.

The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path-tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype.

Keywords : Discrete-time systems; mobile robots; feedback linearization; real time systems.