Discrete time position feedback based steering control for autonomous homing of a mobile robot

被引：0

作者：

Dwaracherla, Vikranth Reddy ^{[1
]}

Thakar, Shantanu ^{[2
]}

Kumar, Arun G. K. ^{[3
]}

Vachhani, Leena ^{[3
]}

机构：

[1] Indian Inst Technol, Elect Engn, Bombay, Maharashtra, India

[2] Indian Inst Sci, Aerosp Engn, Bangalore, Karnataka, India

[3] Indian Inst Technol, Syst & Control Engn, Bombay, Maharashtra, India

来源：

2016 12TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2016年

关键词：

steering control; unicycle model; homing; position feedback; mobile robot; NAVIGATION;

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：

This paper presents a steering control law based on discrete time position feedback to drive the mobile robot to a predefined home position. The controller relies on controlling the rotation direction of the robot for homing, which works even for an erroneous feedback. The proposed control law steers the robot to an interior of a small circle centred at the home position in the presence of bounded random position measurement errors. Position feedback without the need of accurate measurement and guarantee in autonomous homing in the presence of sensor errors by merely changing the steering direction makes the proposed controller suitable for low-cost robot applications. Theoretical results presented in this paper are verified using Matlab simulations and experiments.

引用

页码：773 / 778

页数：6