Bulletin of the Polish Academy of Sciences Technical Sciences · 2014 · 10 citations · 21 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot KinematicsRoboticsDifferential KinematicsKinematic ControlKinematicsMobile Robot KinematicsTrajectory DynamicsWheeled LocomotionKinematic Error AnalysisKinematic Sensitivity AnalysisNoise SensitivitySensitivitySensitivity To NoiseState VariablesWheeled Robot LocomotionWhite Noise
Abstract In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.
21