Controller design and implementation for a differential drive wheeled mobile robot

被引：0
|
作者：
Bethencourt, Julio V. Mendez [1 ]
Ling, Qiang [1 ]
Valera Fernandez, Angel [2 ]
机构：
[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China
[2] Univ Politecn Valencia, Dept Ingn Sistemas & Automat, E-46022 Valencia, Spain
来源：
2011 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6 | 2011年
基金：
中国国家自然科学基金;
关键词：
Terms Kinematic control; Dynamic control; Mobile robotics; Trajectory tracking; Path following;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Mobile robotics evolution has reached a state-of-the-art high technology level. A wide range of control methods and development tools contribute to improving it continuously. This paper proposes some dynamic controllers based on given specifications and adapts a useful method to identify the dynamic models which are the starting point of the controller design. The obtained algorithms are implemented to the real robot and different strategies of kinematic control, such as trajectory tracking and path following, are tested on the controlled robot. Both experimental and simulation results confirm the effectiveness of the achieved control algorithms and their efficient implementation.
引用
收藏
页码：4038 / 4043
页数：6
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