CONTROL OF NON-HOLONOMIC MOBILE ROBOT

Abstract

The motion control of a wheeled mobile robot is an area of active research owing to the challenges in control design and the applications in diverse fields. The work here involves both dynamic and kinematic modelling and control of the mobile robot (dynamic modelling and control is ongoing). Various control strategies can be used for the motion control problem. The control designed here is for trajectory tracking like in a leader follower. Controlling the WMR is a two step process. The first step involves velocity control, where a couple of PID controllers are used to make the wheeled mobile robot navigate with required translational and angular velocities. The second step involves designing the control which determines the velocities with which the WMR should move to successfully track the trajectory. Two methods are employed, Lyapunov theorem and fuzzy logic. First method uses Lyapunov theorem to design the control required to attain the goal while the other uses fuzzy controller. While the first method has the advantage of being more stable, the fuzzy logic helps us to design the control without the mathematical model of the plant. So comparing the two doesn't help as clearly it is based on application. The current work underway involves dynamic control and designing the controllers in digital domain where the predictive fuzzy control can be employed