A path tracking control algorithm for autonomous mobile robot (CROSBI ID 464545)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Crneković, Mladen ; Kirola, Marijo
engleski
A path tracking control algorithm for autonomous mobile robot
To improve production flexibility mobile robots are necessary. Selected mobile robot is driven by two independent wheels that provides excellent robot mobility. Robot path is described by a set of points; therefore linear interpolation between points is performed. Feedback control is designed for each wheel separately and has a form of PD algorithm with feedforward abilities. Because mobile robot dynamic is coupled (interaction between wheels) and control is partially nonlinear, control synthesis is done by numerous of simulation. Because the main mobile robot goal is accurate path tracking, errors are defined in external coordinates, which provides human like guidance. To improve robot capabilities, feedforward control at the beginning and end of the motion is implemented. In the deceleration phase it provides much faster and smoother goal point approach. Actual robot space position is estimated by numerical integration.
Autonomous Mobile Robot; Path Tracking Algorithm
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Podaci o prilogu
D9-D16-x.
1997.
objavljeno
Podaci o matičnoj publikaciji
CIM97 - Computer Integrated Manufacturing and High Speed Machining
Roko Cebalo
Hrvatska udruga proizvodnog strojarstva (HUPS)
Podaci o skupu
4th International Conference on Production Engineering
predavanje
15.10.1997-16.10.1997
Opatija, Hrvatska