Improving navigation of an autonomous mobile robot using system identification and control

被引：0

作者：

Granja, Artur ^{[1
]}

Martins, Jorge ^{[1
]}

Cardeira, Carlos ^{[1
]}

da Costa, Jose Sa ^{[1
]}

机构：

[1] Univ Tecn Lisboa, Inst Super Tecn, IDMEC, P-1096 Lisbon, Portugal

来源：

2007 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, PROCEEDINGS, VOLS 1-8 | 2007年

关键词：

D O I：

10.1109/ISIE.2007.4375083

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present improvements in the track following of a differential drive autonomous robot system using system identification and control. The robot is made of industrial components and its main goal is to participate in mobile robotic competitions as well as to be used as a testbed for research and education experiments. The improvement of performance obtained by applying a controller, whose design is based on the system identification, is shown. The obtained model allows the design of a controller that improves the performance of the autonomous mobile robot, which is the main motivation in this paper.. The results presented compare the performance before and after the controller design and implementation were performed. A practical approach in the identification of the robots system is presented, from the data acquisition to the controller's implementation on the mobile robot.

引用

页码：2948 / 2953

页数：6