Motion control and sensing strategy for a two-axle compliant framed wheeled modular mobile robot

A novel motion control and sensing strategy for a two-axle compliant framed wheeled modular mobile robot (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability without additional hardware. The proposed control and sensing system is developed by combining a curvature-based kinematic controller, a robust dynamic motion controller and a sensor fusion algorithm incorporating relative position sensors. Experimental results verify improved motion control of posture regulation