engleski

Experimental Comparison of Trajectory Tracking Algorithms for Nonholonomic Mobile Robots

This paper presents an experimental overview of common trajectory tracking methods for nonholonomic mobile robots: linear control, nonlinear control and model predictive control. All methods are compared experimentally on a two-wheel mobile robot with differential drive. The goal was to determine which control method is the best with respect to robustness and low trajectory tracking error. Thereby, a special emphasis is given on a fast real-time trajectory tracking and behavior in conditions near robot velocity and acceleration limits.

trajectory tracking; nonholonomic mobile robots

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