Title :
Controllers for mobile robot dynamic models: Trajectory tracking with applications to convoy-like vehicles
Author :
Zohar, Ilan ; Ailon, Amit ; Rabinovici, Raul
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
This paper establishes control strategies for a wheeled mobile robot model that includes the kinematic and dynamic equations of motion. The vehicle model accounts also for the actuator dynamics. The paper proposes simple control schemes for tracking a time-parameterizing path. Applications of the tracking controller for convoy-like vehicles are presented. Simulation results and demonstrations of the controller performances are discussed.
Keywords :
actuators; mobile robots; motion control; path planning; position control; robot dynamics; robot kinematics; tracking; wheels; actuator dynamics; convoy-like vehicle; dynamic motion equation; kinematic motion equation; mobile robot dynamic model; time-parameterizing path; trajectory tracking; wheeled mobile robot; Actuators; Axles; Kinematics; Mobile robots; Motion control; Robot control; Trajectory; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164516
