DocumentCode
2363495
Title
Direction and Control Adjustment for Smooth Motion of Wheeled Mobile Robots
Author
Huang, L.
Author_Institution
Sch. of Eng. & Adv. Technol., Massey Univ., Wellington
fYear
2008
fDate
2-4 Dec. 2008
Firstpage
471
Lastpage
475
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MMVIP.2008.4749578
Filename
4749578
Link To Document