The Shape Tracking Design of Wheeled Mobile Robot Motion
Based on the robot mathematic model in kinematics, we analysize the locomotory control of the wheeled mobile robot(WMR) with nonholonomic constraint. Firstly, a leading controller is designed to move the robot from a primary point to a reference point in the finite time. Secondly, a shape congruence controller is devised to make the robot moving along the similar sections. Consequently, the robot is guaranteed to reaching the target. Computer simulation experiment shows that the algorithm enables the robot to move to the target along the similar sections accurately, smoothly and rapidly.
WMR the control of sliding mode variable structure leading controller congruence controller
WANG Xiao HU Jun-min WANG Yin-he LUO Liang
Faculty of Automation, Guangdong University of Technology, Guangzhou, 510006
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
604-607
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）