Path following algorithm for skid-steering mobile robot based on adaptive discontinuous posture control

摘要

The kinematic model of a skid-steering mobile robot (SSMR) is manipulated using signed polar transformation which represents a discontinuous state transformation. The influence of relative position between the instantaneous center of rotation (ICR) and SSMR center of mass is considered. Then, adaptive state feedback controller is designed and stability regions are studied. Subsequently, a point-to-point tracking algorithm is introduced to track a trajectory that is defined by a set of way-points, which is the more realistic case of dangerous exploration or landmine detection purposes. The closed-loop system is simulated using MATLAB environment and experimentally validated using a modified TURTLEBOT3 Burger. Results show that the proposed controller reaches almost zero steady state error with smooth paths for point stabilization, moreover, good tracking capabilities are demonstrated. The proposed control system integrates both posture and tracking algorithm, thus achieve trajectory tacking which is defined by a set of way-points.