"ARCBOTICS SPARKI" MOBILE ROBOT CONTROL USING TERMINAL STATE METHOD
In this paper some investigations are made concerning development and verification of a two-wheeled mobile robot ArcBotics Sparki control algorithms bringing it to the point with given coordinates and any angle approach. The proposed criterion takes into account nonlinear kinematic relationship between the angle of approach and Cartesian coordinates of the robot current position. Developed control algorithms are based on continuous and discrete versions of the terminal state method.