Modeling a Wheeled Mobile Robot for Autonomous Navigation Design

W.-S. Lin, C.-L. Huang, M.-K. Chuang, and G.-C. Liu (Taiwan)


autonomous navigation; mobile robot; nonholonomic system; modeling; fuzzy control


To facilitate autonomous navigation design, the kinematic and dynamic model of a wheeled mobile robot is built by using Lagrange formalism. A prototype mobile robot has been developed and its model parameters are measured for computer simulation. Equipped with a fuzzy autonomous navigation system, the prototype system has been studied both by computer simulation and experiment for tracking responses. Simulation and experimental results are compared to verify the fidelity of the model in performing autonomous navigation.

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