Construction of an autonomous mobile robotics system (III) - control of mobile robot -

摘要

This paper describes the principle and design to control an automatic guided vehicle. In the proposed controller design, we will descrive the vehicle's behavior with a nonlinear state equation, whose time scale is the distance along the desired path. Then, we will design the controller for this nonlinear state equation using exact linerization technique, position and orientation transformation adjust a landmark to move. In the simulation and experimental results of the vehicle navigation on the path which consist of multiple pass and goal point shows the validity of the present method.