Özet:

Wheel driven mobile robots have been controlled for many years by scientists. During the development of highly nonlinear control methods the non-holonomic restrictions on wheeled robots were used. Depending on the application, a number of payloads may be connected to nonholonomic mobile robots. This may influence either statically or dynamically the total system volume, inertia and centre of mass position as well as other hardware limitations. The accuracy of straight line track planning issues is low, given the non-holonomous and motion-restricted characteristics of wheeled mobile robots. Therefore, we now study this nonholonomic wheeled technique of mobile robot tracking. This article utilises direct line measurement to get the most direct track for nonholonomic mobile robots. The cinematic model that has been created to follow straight paths is the initial phase of the construction of the robot. The implementation of a time-limited feedback control is based on a look-ahead technique. A straightline route tracking test is done to evaluate the stability characteristics of the closed loop system and asymptotic stability is shown using the Lyapunov theory. The straight line tracking shows that the static error is null. The suggested feedback route tracking control is validated using simulations and tests.

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