Title :
Direction and Control Adjustment for Smooth Motion of Wheeled Mobile Robots
Author_Institution :
Sch. of Eng. & Adv. Technol., Massey Univ., Wellington
Abstract :
Control of wheeled mobile robots (differential or steering wheel structure) has been studied extensively in the last decades, and many control strategies were proposed for various applications. This paper will present the solutions to two issues encountered in the implementation of the controllers: over corrections of the robot´s heading direction and saturation of the control efforts. The solutions to the problems and their experimental verifications are provided.
Keywords :
mobile robots; path planning; smooth motion control adjustment; smooth motion direction adjustment; wheeled mobile robot control; Asymptotic stability; Control systems; Feedback control; Mobile robots; Motion control; Orbital robotics; Parallel robots; Robot control; Robot kinematics; Trajectory;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on
Conference_Location :
Auckland
Print_ISBN :
978-1-4244-3779-5
Electronic_ISBN :
978-0-473-13532-4
DOI :
10.1109/MMVIP.2008.4749578
