Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot

Force and torque induced by traveling motion of a mobile robot effect dynamically to the objects being carried on it. If the induced force and torque should be bigger than the static friction force and torque exerting between the carrying objects and the mobile robot, the carrying objects start to slip on it. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads to a dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. Then we propose a fastest guidance control method with acceleration restriction of power wheeled steering (PWS) mobile robot to prevent slipping of carrying objects. The performances have been examined by simulations and experiments