Title :
Trajectory tracking for a mobile robot-An application to contour following
Author :
Salichs, M.A. ; Puente, E.A. ; Gachet, D. ; Moreno, L.
Author_Institution :
Dept. Ingenieria de Sistemas y Autom., Univ. Politechnica de Madrid, Spain
fDate :
28 Oct-1 Nov 1991
Abstract :
Some control algorithms for the contour following guidance module of a mobile robot are described, and their performance is analyzed. Different approaches such as classical, fuzzy and neural control techniques have been considered in order to optimize and smooth the trajectory of the mobile robot. The module controls a virtual vehicle, by means of two parameters: velocity and curvature. The algorithms have been first simulated and then tested on the UPM mobile platform. The best results have been obtained with classical control and fuzzy control
Keywords :
fuzzy set theory; mobile robots; position control; tracking; classical control; contour following guidance module; fuzzy control; mobile robot; neural control; position control; trajectory tracking; Algorithm design and analysis; Fuzzy control; Mobile robots; Navigation; Performance analysis; Robot control; Testing; Trajectory; Vehicles; Velocity control;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239143
