Mobile robot control strategy (CROSBI ID 464563)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Crneković, Mladen ; Majetić, Dubravko
engleski
Mobile robot control strategy
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 and control is partially nonlinear, control synthesis is done by numerous of simulation. 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.
Mobile robot; control strategy; human like guidance
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Podaci o prilogu
53-54-x.
1997.
objavljeno
Podaci o matičnoj publikaciji
Proceedings-8th International DAAAM Simposium
Katalinić, Branko
Beč: International DAAAM, Vienna
Podaci o skupu
8th International DAAAM Simposium
predavanje
23.10.1997-25.10.1997
Dubrovnik, Hrvatska