DocumentCode
1579123
Title
Speed control of differentially driven wheeled mobile robots - tracking and synchronization
Author
Huang, L. ; Yu, W. ; Jhajharia, S.K.
Author_Institution
Sch. of Electr. & Electron. Eng., Singapore Polytech., Singapore
Volume
2
fYear
2003
Firstpage
1407
Abstract
A speed control scheme for a differentially driven wheeled mobile robot is presented in this paper. In the scheme, a compensator for the angular speed is combined with the independent speed control loops of the robot. The controller achieves tracking and synchronization of the speeds of the driving wheels of the robot. The effectiveness of the proposed scheme is verified by the simulation and experimental results.
Keywords
angular velocity control; mobile robots; synchronisation; tracking; compensator; differentially driven wheeled mobile robot; speed control; Error correction; Feedback; Mobile robots; Motion control; Robot control; Robot sensing systems; Three-term control; Trajectory; Velocity control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Instrumentation and Measurement Technology Conference, 2003. IMTC '03. Proceedings of the 20th IEEE
ISSN
1091-5281
Print_ISBN
0-7803-7705-2
Type
conf
DOI
10.1109/IMTC.2003.1207982
Filename
1207982
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