Solutions for driving 2DW/1FW mobile robots using sliding-mode control
Abstract
In this paper the behaviour of one mobile robot 2DW/1FW using sliding-mode control is analysed. An algorithm developed in Stage to achieve this result was used. Mapper3 is used for map design and the MobileSim environment is used for simulation. The robot used in this paper is Pioneer P3-DX, produced by Adept Mobile Robots. The analyses are focused on the behaviours of the robot according to certain parameters.
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