Path Tracking Control for a Wheeled Mobile Robot

Yuan Liang Zhang

doi:10.4028/www.scientific.net/AMM.29-32.2076

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 29-32Path Tracking Control for a Wheeled Mobile Robot

Path Tracking Control for a Wheeled Mobile Robot

Abstract:

In this paper a model algorithm control (MAC) method is proposed to do the path tracking control of a wheeled mobile robot (WMR). This mobile robot is a three-wheel differentially steered wheeled mobile robot subject to nonholonomic constraints. The kinematic model of this mobile robot is presented and used as the mobile robot model to be controlled. Simulations are conducted to show the performance and feasibility of the proposed control strategy for the path tracking of a wheeled mobile robot.

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Periodical:

Applied Mechanics and Materials (Volumes 29-32)

Pages:

2076-2081

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.29-32.2076

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Online since:

August 2010

Authors:

Yuan Liang Zhang

Keywords:

Model Algorithm Control, Path Tracking Control, Wheeled Mobile Robot (WMR)

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References

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