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Trajectory and Position Control of a Nonholonomic Autonomous Mobile Robot
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In the last decade autonomous mobile robots have provided research topics in a variety of disciplines. Additionally, this type of service robots has a large field of application supporting education, training, household activities, and services in hospitals. Mobile service robotsoperate in large unstructured and dynamically changing environments and therefore, they shall be able to cope with significant uncertainty in their own position and orientation. For this reason one of the most challenging activities for a mobile robot is the movement from an initial point to a destination point. It is ...
In the last decade autonomous mobile robots have provided research topics in a variety of disciplines. Additionally, this type of service robots has a large field of application supporting education, training, household activities, and services in hospitals. Mobile service robots
operate in large unstructured and dynamically changing environments and therefore, they shall be able to cope with significant uncertainty in their own position and orientation. For this reason one of the most challenging activities for a mobile robot is the movement from an initial point to a destination point. It is required that the prescribed path is followed accurately and that
the destination position is reached. In this thesis special algorithms for sensor data fusion have been developed with the purpose to improve the selflocalization, trajectory control, and position control in mobile robot applications.
operate in large unstructured and dynamically changing environments and therefore, they shall be able to cope with significant uncertainty in their own position and orientation. For this reason one of the most challenging activities for a mobile robot is the movement from an initial point to a destination point. It is required that the prescribed path is followed accurately and that
the destination position is reached. In this thesis special algorithms for sensor data fusion have been developed with the purpose to improve the selflocalization, trajectory control, and position control in mobile robot applications.