Controller design and implementation for a differential drive wheeled mobile robot
Mobile robotics evolution has reached a stateof the-art high technology level. A wide range of control methods and development tools contribute to improving it continuously. This paper proposes some dynamic controllers based on given speci.cations and adapts a useful method to identify the dynamic models which are the starting point of the controller design. The obtained algorithms are implemented to the real robot and different strategies of kinematic control, such as trajectory tracking and path following, are tested on the controlled robot. Both experimental and simulation results con.rm the effectiveness of the achieved control algorithms and their ef.cient implementation.
Kinematic control Dynamic control Mobile robotics Trajectory tracking Path following
Julio V. Méndez Bethencourt Qiang Ling Angel Valera Fern′andez
Dept.of Automation, University of Science and Technology of China,Hefei,Anhui 230027,China Dept. de Ingeniería de Sistemas y Automáica,Universidad Politécnica de Valencia,Camino de Vera s/n,4
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
4046-4051
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）