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

<table>The robot is initially positioned at (7,5<svg height="7.0124998" id="M163" style="vertical-align:-0.16302pt" version="1.1" viewbox="0 0 9.625 7.0124998" width="9.625" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.0125)">
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<text transform="matrix(1,0,0,-1,-71.95,66.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜋</tspan>
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</svg>/8,0,0), (a) the snapshots of the experiment, (b) the traveled path of the robot.</table>

Journal of Robotics

fig14

Figure 14

Figure 14: Design and Steering Control of a Center-Articulated Mobile Robot Module 