Experimental Study of Trajectory Control Algorithms Under Incomplete Information on Parameters and State Variables of a Nonlinear Model of Mobile Robot Motion

摘要

In this paper, an experimental study of robust trajectory control algorithms under incomplete information about the parameters and state variables of a nonlinear motion model of a mobile robot is carried out. In this study, we have synthesized and tested on a real holonomic mobile robot a set trajectory control algorithm with measured adjustable variables, set trajectory control algorithm in the absence of measurements of adjustable variables and measured robot coordinates. In addition, an algorithm for controlling the motion of a mobile robot along a given trajectory in the absence of measurements of adjustable variables and robot coordinates was tested.