Trajectory specification for accurate tracking control of a differential drive WMR
Sabu John, Jason Garbutt, Thurai Vinay · RMIT Research Repository (RMIT University Library) · 2006
As the speed and payload of Wheeled Mobile Robots (WMRs) increases and the clearances between obstacles and docking error tolerances decreases, methods for reducing tracking errors become increasingly important for a successful application. In this paper techniques and results are presented for improved tracking control of a WMR through the generation and dynamic simulation of paths with and without curvature discontinuities.