MODELING AND PATH-TRACKING CONTROL OF A MOBILE WHEELED ROBOT WITH A DIFFERENTIAL DRIVE

被引：24

作者：

DESANTIS, RM

机构：

[1] Ecole Polytechnique de Montreal, DEGEGI, Montreal H3C 3A7

来源：

ROBOTICA | 1995年 / 13卷

关键词：

MOBILE ROBOTS; MOTION CONTROL; PATH TRACKING; SLIPPAGE; AUTONOMOUS; NONHOLONOMIC CONSTRAINTS;

D O I：

10.1017/S026357470001883X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Topics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.

引用

页码：401 / 410

页数：10