Traveling Control ofaNonholonomic Mobile Robot

Nonholonomic systems arebecoming popular inthe field ofrobotics andnonlinear control recently. Thispaper y describes control ofanonholonomic mobile robotthatisthefirst ordernonholonomic system.Time-state control formisoneof , theuseful methodstocontrol suchsystems. We constructed a Rl X dn7 mobile robot withtwoindependently drivable wheels andapplied dt thealgorithm tocontrol it.Thehardwarearchitecture ofthe robotisverysimple. Two wheelsaredriven bytwosteeping motorswithnoencoder. State variables thatarenecessary to evaluate control inputs aremeasured byusing odometry method. \ Asthemobile robotisconstructed withmoderate cost, sensing resolution ofthevelocity isrelatively low.Whileweconfirmed P(x,y) thattime-state control formhassomedegree ofrobustness to 77 noise.Then,eveninthelimited condition, thenonholonomic Y R mobilerobotcanbewellcontrolled bymakinguseofthose