Naslov
Experimental Comparison of Trajectory Tracking Algorithms for Nonholonomic Mobile Robots

Autori
Brezak, Mišel ; Petrović, Ivan ; Perić, Nedjeljko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. of 35th Annual Conference of the IEEE Industrial Electronics Society / - Porto, 2009, 2229-2234

Skup
35th Annual Conference of the IEEE Industrial Electronics Society (IECON 2009)

Mjesto i datum
Porto, Portugal, 03.11.2009. - 05.11.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
trajectory tracking; nonholonomic mobile robots

Sažetak
This paper presents an experimental overview of common trajectory tracking methods for nonholonomic mobile robots: linear control, nonlinear control and model predictive control. All methods are compared experimentally on a two-wheel mobile robot with differential drive. The goal was to determine which control method is the best with respect to robustness and low trajectory tracking error. Thereby, a special emphasis is given on a fast real-time trajectory tracking and behavior in conditions near robot velocity and acceleration limits.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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