Practically stabilizing motion control of mobile robots with steering wheels

In this work, a novel approach for control of wheeled mobile robots (WMRs) with center-steerable standard wheels is presented. The method bases on static input-output linearization and leads to a control law that can be employed for tracking of reference postures and practical stabilization of rest postures. The controller does neither neglect any physical constraints nor introduce new singularities into the closed loop system. Its practicability is demonstrated in simulation and real-world experiments.