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Comparative Study of Three Different Path Tracking Controls in Mobile Robots

International Journal of Computer Applications
© 2013 by IJCA Journal
Volume 74 - Number 5
Year of Publication: 2013
Abel García-b.
Cristian G. Pérez-t.
Eduardo S. Espinoza-q.
Francisco R. Trejo-m.
Luis E. Ramos-v.
Hugo Romero-t.
Jesús M. Muñoz-p.

Abel Garcia-b., Cristian G Perez-t., Eduardo S Espinoza-q., Francisco R Trejo-m., Luis E Ramos-v., Hugo Romero-t. and Jesus M Munoz-p.. Article: Comparative Study of Three Different Path Tracking Controls in Mobile Robots. International Journal of Computer Applications 74(5):47-51, July 2013. Full text available. BibTeX

	author = {Abel Garcia-b. and Cristian G. Perez-t. and Eduardo S. Espinoza-q. and Francisco R. Trejo-m. and Luis E. Ramos-v. and Hugo Romero-t. and Jesus M. Munoz-p.},
	title = {Article: Comparative Study of Three Different Path Tracking Controls in Mobile Robots},
	journal = {International Journal of Computer Applications},
	year = {2013},
	volume = {74},
	number = {5},
	pages = {47-51},
	month = {July},
	note = {Full text available}


This paper presents a comparative study of three different path tracking control laws for the formation of a group of nonholonomic mobile robots. By introducing a uni?ed error of the formation and trajectory tracking using; the dynamic feedback linearization control [1], dynamic-static feedback linearization control [2] and nonlinear time-invariant control [3] are compared. The simulations results show that the dynamic-static feedback linearization technique presents a stable tracking with smoother behaviour and avoiding discontinuities for tracking trajectory of the robot leader. Finally, this method was implemented experimentally in three different paths formatting a simple triangle with three mobile robots in a leader-follower type motion. Moreover, the analysis in this paper reveals some important issues raising that the following control on this system can be extended to underactuated AUVs in future work.


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