Control of pattern tracking nonholonomic mobile robot with feedback linearization

In this paper the motion control of a pattern tracking nonholonomic mobile robot is presented. In many applications localization of the mobile robots is subjected, different from the existing studies, here a similar closed loop system has been developed, but instead of estimating local coordinates, control problem is constructed as keeping close to a pattern under predefined constraints. Since the dynamic equations of the model are nonlinear, feedback linearization have been applied to control the mobile robot. To implement the control algorithm Quanser´s QBot and a portable computer connected to its head camera have been used.