A Locomotion Control System for Mobile Robots

We c a l l t he l a s t one an IDW method. Robots w i t h AK TRACT JDW ^ e g systems are w i d e l y used because, w i t h o u t any separa te s t e e r i n g mechanism, they can move to any p o i n t by a comb ina t ion of r e v o l v i n g and go ing s t r a i g h t . T h i s paper d iscusses how to c o n t r o l and d e s c r i b e t he smooth movement of a mob i le r o b o t wh ich has two independent d r i v i n g wheels (iDWs) t h a t pe r fo rm bo th s t e e r i n g and moving f u n c t i o n s . Robots which have an IDW l e g system can move to any p o i n t by u s i n g any combina t ions of two bas ic o p e r a t i o n s : r e v o l v i n g and go ing s t r a i g h t .