G. Pandiaraj*, S. Muralidharan
Intelligent Automation & Soft Computing, Vol.35, No.3, pp. 3713-3726, 2023, DOI:10.32604/iasc.2023.031463
Abstract Four-wheeled, individual-driven, nonholonomic structured mobile robots are widely used in industries for automated work, inspection and exploration purposes. The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure. The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots. However, there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion. As a result, the mobile robot has limited performance, such as chattering during curved movement. In this research work, a… More >
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