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A detailed analytical study of kinematics of Wheeled Mobile Robots (WMR) is done. The objective is to develop an appropriate kinematic model of a WMR and test various time varying feedback control algorithms on this model to control its motion from a given starting position to the desired goal. Various control strategies are reviewed and compared for trajectory tracking and posture stabilization in an environment free of obstacles. From the comparison of the obtained results, guidelines are provided for WMR end users. Three different kinematic models are developed in the following work and tested using ode23 solver of MATLAB.

The first model is an equivalent differentially driven WMR model with two rear wheels driven independently and a front wheel on a castor. Different control strategies are tested on this model and the results are presented. Suitable modifications are proposed as per the test results. The strategy is then extended so as to make the vehicle trace a number of goal positions.

The second model is an equivalent car type WMR in which the front wheel is steered and the rear wheel is driven in accordance with the kinematics of the system. Different control strategies are tested on this model and modified suitably to yield satisfactory results for all situations. This strategy is also extended so as to make the model trace a number of goal positions. The third model is also a car type WMR. An open loop type control strategy is designed and tested for point-to-point control method.


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