@article{oai:kutarr.kochi-tech.ac.jp:00000264,
 author = {Wang, Yina and Wang, Shuoyu and Tan, Renpeng and Jiang, Yinlai},
 issue = {6},
 journal = {ICIC Express Letters, Part B : Applications},
 month = {Dec},
 note = {Autonomous mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. So far, the path-tracking accuracy of these robots is low due to nonlinear friction in the wheels, center-of-gravity (COG) shifts and load changes caused by users. To address these issues, a dynamics model is derived that considers nonlinear friction, COG shifts, and load changes. Furthermore, a digital acceleration control algorithm is proposed to compensate for nonlinear friction. Finally, simulations are executed using the proposed method. The results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method.},
 pages = {1267--1272},
 title = {Digital Acceleration Control Method for Path Tracking Control of an Autonomous Mobile Robot},
 volume = {2},
 year = {2011}
}