DocumentCode :
674820
Title :
Control of pattern tracking nonholonomic mobile robot with feedback linearization
Author :
Akbati, Onur ; Cansever, G.
Author_Institution :
Dept. of Control & Autom. Eng., Yildiz Tech. Univ., Istanbul, Turkey
fYear :
2013
fDate :
28-30 Nov. 2013
Firstpage :
512
Lastpage :
515
Abstract :
In this paper the motion control of a pattern tracking nonholonomic mobile robot is presented. In many applications localization of the mobile robots is subjected, different from the existing studies, here a similar closed loop system has been developed, but instead of estimating local coordinates, control problem is constructed as keeping close to a pattern under predefined constraints. Since the dynamic equations of the model are nonlinear, feedback linearization have been applied to control the mobile robot. To implement the control algorithm Quanser´s QBot and a portable computer connected to its head camera have been used.
Keywords :
cameras; closed loop systems; control engineering computing; feedback; linearisation techniques; mobile robots; motion control; nonlinear equations; path planning; portable computers; Quanser QBot; closed loop system; feedback linearization; head camera; mobile robot localization; motion control; nonlinear dynamic equations; pattern tracking nonholonomic mobile robot; portable computer; Equations; Mathematical model; Mobile robots; Robot kinematics; Vehicle dynamics; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Electrical and Electronics Engineering (ELECO), 2013 8th International Conference on
Conference_Location :
Bursa
Print_ISBN :
978-605-01-0504-9
Type :
conf
DOI :
10.1109/ELECO.2013.6713895
Filename :
6713895
Link To Document :
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