ABSTRACT
The motion control of wheeled mobile robots has received appreciable attention where rigid, axle-wheeled mobile robots are predominant platforms. This chapter provides a motion control and sensing architecture based on the general full Lagrangian analysis to accommodate the conventional nonholonomic control theories onto the cooperative nonholonomic system. It discusses a cooperative sensing and control architecture in order for the system to be scalable, distributed, and cooperative. The architecture consists of kinematic (K) control, dynamic (D) control, and sensing (S) system components. In order to characterize the performance of the architecture, the tracking errors due to the kinematic motion controller, dynamic motion controller, and sensing algorithms are defined. The dynamic motion controller provides wheel torque commands to the robot based upon the reference trajectory from the kinematic motion controller. The sensor system provides posture and velocity feedback to the dynamic motion controllers according to the architecture.
