A computer-controlled vehicle that is part of a mobile nursing robot system is described. The vehicle applies a motion control strategy that attempts to avoid slippage and minimize position errors. A cross-coupling control algorithm that guarantees a zero steady-state orientation error (assuming no slippage) is proposed and a stability analysis of the control system is presented. Results of experiments performed on a prototype vehicle verify the theoretical analysis.
Issue Section:
Research Papers
This content is only available via PDF.
Copyright © 1987
by ASME
You do not currently have access to this content.
