Design and Steering Control of a Center-Articulated Mobile Robot Module

Algorithm 2

The control algorithm to steer the robot.

Step 1: 𝛼, 𝛽, and 𝛾 angles are computed, based on the position of

the beacons received from the Image Processing application.

(The angles are confined to [−𝜋,𝜋])

Step 2: Feedback parameters (𝑒,𝜃₁,𝜃₂) are computed,

Step 3: Control signals (𝑣,𝑤) are computed, based on

equations (25),(26).

Step 4: If the control signals exceed their limits, they are set

to their maximum allowable values.

Step 5: The computed control signals are scaled, and sent to the

control-board.

Step 6: Once a new image frame arrives, Steps 1–5 are repeated.