Introduction to Mobile Robot Control

13

Experimental Studies

The objective of this chapter is to present a collection of experimental simulation results drawn from the open literature for most of the methodologies considered in the book. Specifically, the book provides sample results obtained under various artificial and realistic conditions. In most cases, the desired paths to be followed and the trajectories to be tracked are straight lines, curved lines, or circles or appropriate combinations of them. The simulation experiments presented in the chapter cover the following problems treated in the book: (i) Lyapunov-based model reference adaptive and robust control, (ii) pose stabilization and parking control using polar, chained, and Brockett-type integrator models, (iii) deterministic ...