IMPROVE PATH FOLLOWING EFFICIENCY FOR 4WD4WS ROBOT BY USING EXPONENTIAL FUNCTIONS IN VIRTUAL TARGET GUIDANCE ALGORITHM
Keywords:
mobile robot, path following, four-wheel-drive/four-wheel-steer, virtual target guidance algorithm, kinematic control.
Abstract
Most of the path following research for 4WD4WS mobile robots is conducted
with two control loops, the kinematic loop and the dynamic loop. This article
proposes a method using exponential functions in virtual target guidance
algorithm to decrease the convergence time in the kinematic control loop. The
process of synthesizing the control law is strictly mathematically guaranteed.
Simulations in Matlab visually represent the research results.
