Pregled bibliografske jedinice broj: 120356
A Trajectory Tracking Controller For Mobile Robot With Differential Drive
A Trajectory Tracking Controller For Mobile Robot With Differential Drive // Proceedings of the International Conference on Electrical Drives and Power Electronics (EDPE 2003)
Pribylina-Podbanské, 2003. (poster, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 120356 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
A Trajectory Tracking Controller For Mobile Robot With Differential Drive
Autori
Brezak, Mišel ; Petrović, Ivan ; Vrdoljak, Krešimir
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the International Conference on Electrical Drives and Power Electronics (EDPE 2003)
/ - Pribylina-Podbanské, 2003
Skup
International Conference on Electrical Drives and Power Electronics
Mjesto i datum
Podbanské, Slovačka, 24.09.2003. - 26.09.2003
Vrsta sudjelovanja
Poster
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Robotics; nonholonomic wheeled mobile robots; trajectory tracking
Sažetak
In this paper a trajectory tracking controller is proposed for the mobile robot with differential drive. Its main features are simplicity and robustness, which are beneficial features for real-time implementation. Moreover, the controller doesn't suffer from singularity problems. The controller is decentralized, with independent control of robot longitudinal motion and steering. Output of the designed controller consists of ideal reference values for left and right wheel speeds that are obtained from trajectory generator, and two additional terms, one for longitudinal error compensation and one for lateral error compensation. Experimental results obtained on a small-size mobile robot developed for robot soccer demonstrate good behavior of proposed controller.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti
