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VNUHCM Journal of

Science and Technology Development

An official journal of Viet Nam National University Ho Chi Minh City, Viet Nam since 1997

ISSN: 1859-0128
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Engineering and Technology - Research article Open Access Logo

TRAJECTORY TRACKING CONTROL FOR 4 WHEEL SKID-STEERING MOBILE ROBOT

Nghin Van Dang 1, *
Khanh Van Quoc Nguyen 2

  1. Ho Chi Minh Institute of Mechanics and Informatics
  2. University of Technology, VNU- HCM
Correspondence to: Nghin Van Dang, Ho Chi Minh Institute of Mechanics and Informatics. Email: pvphuc@hcmuns.edu.vn.
Volume & Issue: Vol. 13 No. 3 (2010) | Page No.: 83-94 | DOI: 10.32508/stdj.v13i3.2137
Published: 2010-09-30

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Copyright © 2010 by the author(s).

Copyright The Author(s) 2023. This article is published with open access by Vietnam National University, Ho Chi Minh city, Vietnam. This article is distributed under the terms of the Creative Commons Attribution License (CC-BY 4.0) which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited. 

Abstract

By applying a nonholonomic constraints and Lagrange equation for nonholonomic system, a method is given to model and control the 4-wheel skid-steering mobile robot which tracks a given trajectory. First at all, a fundamental of nonholonomic system is introduced. Next, the skid steering robot’s kinematic model and dynamic model are considered. To control the robot tracking a trajectory, a new algorithm is given by applying feedback linearization and PD control. In addition, simulation results show the good performance in tracking trajectories.

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