Navigation and trajectory tracking of mobile robot based on kinematic PI controller

被引：0

作者：

Ben Halima Abid, Donia ^{[1
]}

Yousfi Allagui, Najah ^{[1
]}

Derbel, Nabil ^{[1
]}

机构：

[1] Univ SFAX, ENIS, CEM Lab Control & Energy Management, Sfax, Tunisia

来源：

2017 18TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA) | 2017年

关键词：

PI controller; Mobile robot; Kinematic model; Trajectory tracking; 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：

In last few years there has been a growing interest in trajectory tracking and mobile robot navigation. In this paper, an effective design of a PI (Proportional Integral) controller to resolve two tasks 'going to target' and 'following a trajectory' is developed. This controller is designed to adjust the motor velocities of our considered platform (Khepera II). The responses of the robot controller in navigation and tracking have been obtained and graphically presented .The effectiveness of the proposed methodology is discussed.

引用

页码：252 / 256

页数：5

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