Trajectory Control Using Linear Control System on Mobile Robot

Kuei Ying Chang; Huai Jen Hsu; Pendry Alexandra; Min Fan Ricky Lee

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

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Trajectory Control Using Linear Control System on...

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.

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Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

1619-1622

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.1619

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Online since:

November 2011

Authors:

Kuei Ying Chang, Huai Jen Hsu, Pendry Alexandra, Min Fan Ricky Lee

Keywords:

Autonomous Navigation, Mobile Robot, Trajectory Control

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References

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