Parking control of a center-articulated mobile robot in presence of measurement noise

Abstract

Articulated steering vehicles (with active joint) are preferable for navigation in narrow environments due to their high maneuverability. In order to achieve closed-loop control of a center-articulated mobile robot, feedback from the goal's position and orientation is needed. In practice, the measurement would be noisy. In this paper, we first investigate a kinematic model for center-articulated mobile robots, and propose a method to control a parking maneuver. Then, using a beacon-based positioning system, we show the effectiveness of this method in the presence of measurement noise.