Non-autonomous wheeled mobile robot trajectory tracking control based on the navigation via WSN
Trajectory tracking control is a major control problem in the application of the wheeled mobile robots (WMRs). However, many of the WMRs are autonomous which are equipped with several kinds of sensor to detect the position and orientation by itself, such as ultrasonic, laser, infrared and visual. This paper studies the implementation for a distributed network feedback control system and the trajectory tracking control algorithm for a non-autonomous WMR. The control system consists of a wireless sensor network (WSN) and a monitoring base station for measurement and feedback, and a non-autonomous WMR as controlled plant. To cope with the distributed and asynchronous measurements and slow response of the feedback channel, the sectional error amplitude limited algorithm is studied and the results show the system can effectively track a reference trajectory.
Distributed measurement Data fusion Trajectory tracking WMR
Dayong Lu Zhenhua Luo Jianlu Tian
College of automation science and engineering,South China University of Technology,Guangzhou Guangdo College of automation science and engineering, South China University of Technology,Guangzhou Guangd
国际会议
沈阳
英文
1089-1095
2011-11-22（万方平台首次上网日期，不代表论文的发表时间）