Abstract
In this paper experimental verification of the input-output feedback linearization of differentially driven mobile robot is presented. This technique is especially useful in multi-level formation control because it allows to separate platform motion control from the formation control. It also allows high level controller not to be aware of the type of the robot. The disadvantage of this method is that the orientation cannot be directly controled. In the paper experiments aimed at selecting the appropriate value of so-called hand position that is design parameter for the feedback linearization are presented.
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Kowalczyk, W., Kozłowski, K. (2014). Feedback Linearization of the Differentially Driven Mobile Robot: An Experimental Verification. In: Fodor, J., Fullér, R. (eds) Advances in Soft Computing, Intelligent Robotics and Control. Topics in Intelligent Engineering and Informatics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-05945-7_2
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DOI: https://doi.org/10.1007/978-3-319-05945-7_2
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05944-0
Online ISBN: 978-3-319-05945-7
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