Guidance control with acceleration restriction of PWS mobile robot

Force and torque induced by traveling motion and moving operations 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, the carrying objects may start to slip on the mobile robot. Since this slipping motion may increase the acceleration of the mobile robot, then the slipping of one object may cause a collapse of all carrying objects, which is thought to be dangerous. Furthermore it interferes with accurate moving operations. A purpose of this research is to propose a controller to guide the mobile robot along a given course with acceleration constraint not to slip the carrying objects during traveling and moving operations. Using a model proposed by the authors, we propose a new guidance control method with the acceleration restriction of the mobile robot and we show the effects by some simulations.