Autonomous mobile robot control using kinematics and dynamics based approaches-an experimental analysis

Motion control of wheeled mobile robots is based on kinematic or dynamic models and has to take into account nonholonomic constraints resulting from ideal rolling requirement. In order to achieve autonomy in motion, the trajectory has to be generated in real time and has to be corrected in case of reaching a constraint limit, as for example servomotor torque saturation limit. In this paper, results of experimental verification of kinematics and dynamics based control strategies are reported and analysed from the point of view of computational complexity versus performance limitations