International Conference on Robotics and Automation Two Hybrid Control Schemes for Nonholonomic RobotsBrett

This paper describes two hybrid control laws for Hilare-type mobile robots, together with experimental veriication of their performance. The rst control is mathematically motivated. The second control is motivated by the geometry of the problem. While both controls are shown to regulate the robot to a speciied position and orientation, their performance is diier-ent. To evaluate the performance of the controls, we deene seven criteria that we would like the closed-loop system to exhibit. The experimental performance of the two hybrid control laws are evaluated against these criteria.