Title :
A good choice of a path following controller for an industrial mobile robot
Author :
Kamga, André ; Simeu, Emmanuel
Author_Institution :
Lab. des Syst. Autom., Univ. de Picardie Jules Verne, Amiens, France
Abstract :
This paper is devoted to straight line paths control of an industrial tricycle vehicle. A simple adapted linearization method is a suitable control strategy. The locomotion coordinates needed in the control law are obtained from a set of proprioceptive sensors. Experimentation results are presented to illustrate the control strategy on paths formed by several straight line segments
Keywords :
industrial robots; linearisation techniques; mobile robots; path planning; position control; robust control; adapted linearization method; industrial mobile robot; industrial tricycle vehicle; locomotion coordinates; path following controller; proprioceptive sensors; straight line paths control; Automatic control; Electrical equipment industry; Industrial control; Magnetic sensors; Mobile robots; Permanent magnet motors; Potentiometers; Sensor phenomena and characterization; Vehicles; Wheels;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627456
