Robust controller for wheeled mobile robots

Abstract

A guidance and control system has been developed for the autonomous operation of under-actuated mobile robots. The guidance system is based on the concepts of the line-of-sight (LOS) with the acceptance radius. It empowers the controller to simultaneously deal with the cross-track error while yielding the proper orientation of the robot. Both theoretical and experimental results prove the viability of the proposed approach and demonstrate the robustness of the controller to significant modeling imprecision.