Trajectory Tracking Control of a Mobile Robot Using Lidar Sensor For Position and Orientation Estimation

被引：0
|
作者：
Lima, Thiago Alves [1 ]
do Nascimento Forte, Marcus Davi [1 ]
Nogueira, Fabricio Gonzalez [1 ]
Torrico, Bismark Claure [1 ]
de Paula, Adriano Rodrigues [1 ]
机构：
[1] Univ Fed Ceara, Dept Engn Eletr, Fortaleza, Ceara, Brazil
来源：
2016 12TH IEEE/IAS INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON) | 2016年
关键词：
Mobile Robot Control; Path Tracking; Laser Sensor; Non Linear Control; Localization and Mapping;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper it is investigated the trajectory tracking control of a wheeled mobile robot using a laser rangefinder sensor to estimate the robot position and orientation (posture). This technique is compared with the conventional odometry method where the encoders data are used for posture estimation. The paper also presents the description of the robot as well as its mathematical modeling. Two controllers in cascade were used to implement the tracking control. A kinematics controller generates the references for internal motor speed controllers. Experimental results in an indoor environment are presented for trajectories with no obstacles.
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页数：6
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