Backstepping control of wheeled mobile robots

Author

Dumitrascu, B. ; Filipescu, A. ; Minzu, V. ; Filipescu, A., Jr.

Author_Institution

Dept. of Autom. & Electr. Eng., Univ. Dunarea de Jos of Galati, Galati, Romania

fYear

2011

fDate

14-16 Oct. 2011

Firstpage

1

Lastpage

6

Abstract

A trajectory tracking controller based on the backstepping technique for the PowerBot wheeled mobile robot using the kinematic model is proposed in this paper. The PowerBot is an automated differential drive guided vehicle specially designed and equipped for autonomous, intelligent delivery and handling of large payloads. The PowerBot is an ideal platform for laboratory and research tasks involving delivery, navigation and manipulation thanks to its top speed of 1.6 m/s and payload capacity of up to 100 kg. Simulations and real-time are used to validate the proposed controller and the results prove the effectiveness of the controller.

Keywords

automatic guided vehicles; drives; materials handling equipment; mobile robots; position control; robot kinematics; PowerBot wheeled mobile robot; automated differential drive guided vehicle; autonomous intelligent delivery; backstepping control; large payload handling; navigation; payload capacity; robot kinematic model; trajectory tracking controller; Angular velocity; Backstepping; Kinematics; Mobile robots; Software; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, Control, and Computing (ICSTCC), 2011 15th International Conference on

Conference_Location

Sinaia

Print_ISBN

978-1-4577-1173-2

Type

conf

Filename

6085715