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We consider the trajectory tracking control problem for a 4-wheel differentially driven mobile robot moving on an outdoor terrain. A dynamic model is presented accounting for the effects of wheel skidding. A model-based nonlinear controller is designed, following the dynamic feedback linearization paradigm. An operational nonholonomic constraint is added at this stage, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The controller is then robustified, using conventional linear techniques, against uncertainty in the soil parameters at the ground-wheel contact. Simulation results show the good performance in tracking spline-type trajectories on a virtual terrain with varying characteristics.
Caracciolo et al. (Mon,) studied this question.
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