Autor(s):

Stoyan Lilov, Institute of Robotics - Bulgarian Academy of Science, Bulgaria, lsv@abv.bg

Vanya Markova, Institute of Robotics - Bulgarian Academy of Science, Bulgaria, markovavanya@yahoo.com

Ventseslav Shopov, Institute of Robotics - Bulgarian Academy of Science, Bulgaria, vkshopov@yahoo.com

Nikolay Popov, Institute of Robotics - Bulgarian Academy of Science, Bulgaria, njpopov62@gmail.com

https://doi.org/10.55630/STEM.2023.0515

Abstract:

    In the article, the problems of stability during movement of a four-wheeled mobile robot along a set trajectory are investigated. The object of the study is a wheeled mobile robot with front turning and rear driving wheels according to the Ackerman scheme. A simulation was made based on a bicycle mathematical model, in which the longitudinal and transverse stability are calculated. The simulation shows that the accelerations do not exceed the limit values guaranteeing the stability of the robot during the movement along the set trajectory.

Keywords:

Control; Wheeled Mobile Robot; Trajectory Tracking;

Received:

01-03-2023

Accepted:

29-06-2023

Published:

24-07-2023

Cite (APA style):

Lilov, S.; Markova, V.; Shopov, V.; Popov, N. (2023). Control of a Wheeled Mobile Robot Following a Set Trajectory, Science Series "Innovative STEM Education", volume 05, ISSN: 2683-1333, Institute of Mathematics and Informatics – Bulgarian Academy of Sciences, pp. 121-128, DOI: https://doi.org/10.55630/STEM.2023.0515

PDF file address:

http://www.math.bas.bg/vt/stemedu/books/05/STEM.2023.0515.pdf