Trajectory Control Using Linear Control System on Mobile Robot

Abstract:

Article Preview

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)

Edited by:

Wu Fan

Pages:

1619-1622

DOI:

10.4028/www.scientific.net/AMR.383-390.1619

Citation:

K. Y. Chang et al., "Trajectory Control Using Linear Control System on Mobile Robot", Advanced Materials Research, Vols. 383-390, pp. 1619-1622, 2012

Online since:

November 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.