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Mobile robot control strategy (CROSBI ID 464563)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Crneković, Mladen ; Majetić, Dubravko Mobile robot control strategy // Proceedings-8th International DAAAM Simposium / Katalinić, Branko (ur.). Beč: International DAAAM, Vienna, 1997. str. 53-54-x

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

Povezanost rada

Strojarstvo