時間多項式を利用した２輪移動ロボットのフィードフォワード制御

抄録

For wheeled mobile robots with non-holonomic constraints, it is difficult to derive a control input that the robots are convergent to the target state. In this paper, we consider a regulator problem of controlling a two-wheeled mobile robot with non-holonomic constraints from an arbitrary initial state to a target state, and propose a method to generate a path and feed forward control inputs to converge the robot to the origin using time-polynomial. The effectiveness of the searched control input is confirmed by numerical simulations.