Autonomous mobile robot proprioceptive navigation and predictive trajectory tracking

Abstract

For an autonomous mobile robot a novel predictive control algorithm is presented, that enables both trajectory tracking and point stabilization. This algorithm is employed in conjunction with a proprioceptive navigation algorithm using either inertial or odometric data for posture estimation according to detected slip conditions. Based on the latter, slip control is made possible. Experimental results demonstrate the performance of the system.

Acknowledgment

This work was partially financially supported by the Austrian Science Fund, FWF.