Naslov
Mobile robot control strategy

Autori
Crneković, Mladen ; Majetić, Dubravko

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

Izvornik
Proceedings-8th International DAAAM Simposium / Katalinić, Branko - Beč : International DAAAM, Vienna, 1997, 53-54

Skup
8th International DAAAM Simposium

Mjesto i datum
Dubrovnik, Hrvatska, 23.10.1997. - 25.10.1997

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile robot; control strategy; human like guidance

Sažetak
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 and control is partially nonlinear, control synthesis is done by numerous of simulation. 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