Preliminary experimental results of factitious force method implementation for the mobile platform REX

Paper presents application of called factitious force method and experiments results using the real mobile skid-steering mobile platform. Due to fact that lateral slippage is needed for changing the orientation, constraints for this phenomena cannot be introduced to the system and, thus, the mobile platform is underactuated on dynamics level. Control problem can be solved by expanding relevant components of mathematical model and applying additional, factitious control signal, which is equivalently equal to 0. Described controller is implemented in the form of OROCOS component. Experiments, using this controller, were conducted using Robot Operating System (ROS) and gave the satisfying results.