Paper Title:
Trajectory Control Using Linear Control System on Mobile Robot
  Abstract

A lot of studies have been conducted and published on how to control the wheeled mobile robot to reach the desired target smoothly and many simulation results have been presented. However, very few of the control theorems have been applied on a real mobile robot platform to test the feasibility. This paper focuses on the experimental validation by applying the kinematic model and the control law suggested by Siegwart et al [6] on a nonholonomic wheeled mobile robot. The omni-directional camera mounted on ceiling is used to capture the initial position of robot and monitor the trajectory. Our experiment results proved with the proposed control law, the mobile robot can reach the final goal and stop.

  Info
Periodical
Advanced Materials Research (Volumes 383-390)
Chapter
Chapter 5: Computer-Aided Design in Materials Engineering
Edited by
Wu Fan
Pages
1619-1622
DOI
10.4028/www.scientific.net/AMR.383-390.1619
Citation
K. Y. Chang, H. J. Hsu, P. Alexandra, M. F. Ricky Lee, "Trajectory Control Using Linear Control System on Mobile Robot", Advanced Materials Research, Vols. 383-390, pp. 1619-1622, 2012
Online since
November 2011
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Price
$32.00
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