Naslov
A path tracking control algorithm for autonomous mobile robot

Autori
Crneković, Mladen ; Kirola, Marijo

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

Izvornik
CIM97 - Computer Integrated Manufacturing and High Speed Machining / Roko Cebalo - : Hrvatska udruga proizvodnog strojarstva (HUPS), 1997, D9-D16

Skup
4th International Conference on Production Engineering

Mjesto i datum
Opatija, Hrvatska, 12.06.1997. - 13.06.1997

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Autonomous Mobile Robot; Path Tracking Algorithm

Sažetak
To improve production flexibility mobile robots are necessary. Selected mobile robot is driven by two independent wheels that provides excellent robot mobility. Robot path is described by a set of points; therefore linear interpolation between points is performed. Feedback control is designed for each wheel separately and has a form of PD algorithm with feedforward abilities. Because mobile robot dynamic is coupled (interaction between wheels) and control is partially nonlinear, control synthesis is done by numerous of simulation. Because the main mobile robot goal is accurate path tracking, errors are defined in external coordinates, which provides human like guidance. To improve robot capabilities, feedforward control at the beginning and end of the motion is implemented. In the deceleration phase it provides much faster and smoother goal point approach. Actual robot space position is estimated by numerical integration.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA