Kinematic and Dynamic Control of Some Wheeled Mobile Platforms for Autonomous Service Robots

• Main Authors: Tai-Yu Wang, 王台有
• Other Authors: 蔡清池
• Format: Others
• Language: en_US
• Online Access: http://ndltd.ncl.edu.tw/handle/47858139507078905574

博士 === 國立中興大學 === 電機工程學系所 === 97 === In recent years, the non-industry applications of robots have attracted much attention in both industry and academia. Hence, design of good interaction and between the human being and the robot and autonomous navigation to conform to the demand intelligent service robot have been prevalent topics for researchers in the robotics society in recent years. This dissertation aims to develop kinematic and dynamic controls of mobile platforms for autonomous service robots. The platforms under consideration cover two-wheeled differential-driving platforms, differential-driving power wheelchair with two omnidirectional caster wheels, three-wheeled omnidirectional mobile platforms, and four-wheeled omnidirectional mobile platforms. Several stable nonlinear control methods using backstepping are proposed to achieve regulation and trajectory tracking control of these mobile platforms. The effectiveness and merits of the proposed controllers are exemplified by conducting several computer simulations and experiments. The proposed techniques may provide useful theoretical and practical references for professionals working in the field of mobile robotics.