An Alternative for Trajectory Tracking in Mobile Robots Applying Differential Flatness
Elkin Veslin, Jules G. Slama, Max Suell Dutra, Omar Lengerke Pérez, Hernán González Acuña · Advances in computational intelligence and robotics book series · 2012
One solution for trajectory tracking in a non-holonomic vehicle, like a mobile robot, is proposed in this chapter. Using the boundary values, a desired route is converted into a polynomial using a point-to-point algorithm. With the properties of Differential Flatness, the system is driven along this route, finding the necessary input values so that the system can perform the desired movement.