Path following of a 2-DOF wheeled mobile robot under path and input torque constraints

Author

De Wit, C. Canudas ; Roskam, R.

Author_Institution

Lab. d´´Autom. de Grenoble, ENSIEG-INPG, St. Martin-d´´Heres, France

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1142

Abstract

The problem of controlling a two-degree of freedom wheeled mobile robot (2-DOF WMR) under path and input torque constraints is examined. Path constraints are imposed by the task to be performed while input torque constraints are due to power limitations in the motor actuators. A dynamic control design based on a two-dimensional WMR model (tangential navigation velocity and orientation) and on recent results concerning online reference profile generation obtained by O. Dahl and L. Nielsen (1989) is proposed. The capabilities of this method are investigated through simulations and experiments performed on the micro-WMR KITBORG

Keywords

control system synthesis; mobile robots; navigation; planning (artificial intelligence); position control; velocity control; 2-DOF wheeled mobile robot; dynamic control; input torque constraints; micro-WMR KITBORG; orientation; path constraints; path following; tangential navigation velocity; Actuators; Control design; Inverse problems; Manipulators; Mobile robots; Navigation; Painting; Robot kinematics; Torque control; Welding;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131749

Filename

131749