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

fYear

2009

fDate

24-26 June 2009

Firstpage

67

Lastpage

72

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/MED.2009.5164516

Filename

5164516