• DocumentCode
    3663835
  • Title

    Correction of odometry errors in a tri-wheel mobile robot

  • Author

    Ryszard Beniak;Tomasz Pyka

  • Author_Institution
    Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Opole, Poland
  • fYear
    2015
  • Firstpage
    761
  • Lastpage
    764
  • Abstract
    This paper presents a simple algorithm for controlling robot trajectory that accounts for the torsion angle of a castor wheel. We identify the dynamics of the castor wheel as a plant of the second order inertia and then we successfully apply this information in the PWM (Pulse Width Modulation) regulator.
  • Keywords
    "Wheels","Mobile robots","Trajectory","Regulators","Robot motion","Delays"
  • Publisher
    ieee
  • Conference_Titel
    Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
  • Type

    conf

  • DOI
    10.1109/MMAR.2015.7283971
  • Filename
    7283971
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3663835