Design, Simulation and Implementation of Cascaded Path Tracking Controller for a Differential Drive Mobile Robot

被引：0

作者：

Raj, Vinod N. ^{[1
]}

Mathew, Abraham T. ^{[1
]}

机构：

[1] Natl Inst Technol Calicut, Dept Elect Engn, Kozhikode, Kerala, India

来源：

2015 INTERNATIONAL CONFERENCE ON ADVANCES IN COMPUTING, COMMUNICATIONS AND INFORMATICS (ICACCI) | 2015年

关键词：

differential drive; cascaded control; kinematic and dynamic model; mobile robot;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

The problem of motion planning and control of mobile robots is a key research area in view of their relevance in applications. This paper proposes a cascaded control topology for reference path tracking of a differential drive mobile robot. Kinematic and dynamic modelling of the robot is presented. Both master and slave controllers have PID configuration. Control parameters obtained from simulation are fine tuned for hardware implementation using pcb mounted pots. Simulation and experimental results demonstrates the performance and robustness of the proposed controller.

引用

页码：1085 / 1090

页数：6

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