DocumentCode
2319817
Title
Dynamic modelling and control of wheeled mobile robots theory and experiment
Author
Mehrabi, M.G. ; Cheng, R.M.H. ; Hemami, A.
Author_Institution
Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada
fYear
1993
fDate
13-16 Sep 1993
Firstpage
659
Abstract
Very little experimental investigation has been reported in the recent research in dynamic modelling and control of wheeled mobile robots (WMR). To address the issue of experimentation several prototype vehicles (CONCIC I to III) have been built to supplement the research program at the Centre for Industrial Control of Concordia University in this area. The paper concentrates on the latest development of CONCIC III. A control strategy is proposed for path tracking and its implementation. Some initial but promising results obtained from the dynamic model and experimental data are presented, showing the accuracy of the dynamic model as well as the effectiveness of the control algorithm
Keywords
mobile robots; modelling; CONCIC I; CONCIC III; WMR; control algorithm; control strategy; dynamic modelling; path tracking; wheeled mobile robots theory; Automatic control; Equations; Industrial control; Mobile robots; Motion analysis; Motion control; Prototypes; Tracking; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1993., Second IEEE Conference on
Conference_Location
Vancouver, BC
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1993.348329
Filename
348329
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