An optimal control law is derived for path tracking control of a class of wheeled mobile robots
(WMR) or automated guided vehicles with front steering wheel. Optimality is based on …

Through two different approaches, this report proposes two general controllers for unicycle-
type and two-steering-wheels mobile robots. For both systems, conditions for asymptotical …

Through two different approaches, this article proposes two general controllers for two-
steering-wheels mobile robots. For both controllers, conditions for asymptotical convergence …

This chapter may be seen as a follow up to Chap. 24, devoted to the classification and
modeling of basic wheeled mobile robot (WMR) structures, and a natural complement to …

In order to avoid wheel slippage or mechanical damage during the mobile robot navigation,
it is necessary tosmoothly change driving velocity or direction of the mobile robot. This …

This chapter may be seen as a follow up to Chapter 17, devoted to the classification and
modeling of basic wheeled mobile robot (WMR) structures, and a natural complement to …

This paper deals with feedback control of wheeled mobile robots. The proposed controller is
based on a tracking scheme where the real robot tracks a fictitious reference one with …

This paper considers the problem of output feedback trajectory tracking with a unicycle
mobile robot system. A state-feedback controller for the non-linear error dynamics of the …

This paper derives a new type of control law to steer the dynamic model of a wheeled robot
of unicycle type along a desired spatial path. The methodology adopted for path following …

In this paper a novel kinematic model is proposed where the transformation between the
robot posture and the system state is bijective. A nonlinear control law is constructed in the …