A kinematic Lyapunov-based controller to posture stabilization of wheeled mobile robots

摘要

In this paper, two non-smooth kinematic control strategies are proposed for the posture stabilization of a differentially driven wheeled mobile robot. The developed approach is based on kinematic coordinate transformation and Lyapunov-like stability technique. The presented control laws can stabilize the system asymptotically at a desired target and offer two different manoeuvers. Further, the response of the suggested algorithms is compared against recent previous studies. Next, the control laws are modified to tackle the obstacle avoidance problem while the robot approaches the final desired posture. The obtained simulation results as well as experimental tests prove the effectiveness of the presented techniques.