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1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2014

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Noise sensitivity of selected kinematic path following controllers for a unicycle

Libal U., Płaskonka J.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2014

Vol. 62, nr 1

3--13

In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.