Trajectory control of wheeled mobile robots based on virtual manipulators

This paper describes a novel method of path following for wheeled mobile robots. A number of virtual manipulators mounted on the robot are used to make the robot poses which satisfy both of path following and collision avoidance. This method can calculate robot poses by using a single jacobi matrix despite of coping with several manipulators. We also present about the method of motion stabilization by using a singularity-avoiding criteria. Effectiveness of the proposed method is proven by means of simulation in both cases of omnidirectional wheelbase and 2 wheeled mobile platform.