A simplified approach to a wheeled mobile robot control on uneven terrain

Abstract

The control of wheeled mobile robots (WMRs) has been widely studied and yet it remains a challenging task. The use of the WMRs varies and extends to different fields. Many approaches have been used for the wheeled robots' control. In this paper, we present a brief state of the art of some of the methods that were used for the WMRs control and we propose a simple control method that could be used for the individual robots deployed in a Swarm. The proposed control method ensures a stable trajectory tracking results on an uneven ground.