Control Strategy toward Mobile Robot Based on Driven Configuration Matrix

The literacy on the issue how to make a mobile robot to move continuously to its goal when some driven wheels are free or failed is rare. These cases are described by the non-full-ranked matrix of driven configuration matrix NFRDCM which describes the power distribution on driven wheels of locomotion of wheeled mobile robot correspondently. Some control algorithms based on steered wheel control strategy or driven wheels or the combination control strategy are given to make robot to trace a desired trajectory. Tests have validated the feasibility of proposed scheme