Modeling and position control of mobile robot

P. K. Padhy, Takeshi Sasaki, Sousuke Nakamura, Hideki Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

This paper presents a new approach for stable tracking of non-holonomic wheeled mobile robot using PID controller. The major objective of the paper is to propose a control rule to find out reasonable target linear and rotational velocities of the mobile robot. The method requires the information about the position (Cartesian space and orientation) of the mobile robot which can be obtained by any kind of positioning system. In the approach, the mobile robot, including the actuator dynamics is identified by a linear model using recursive least square method. The identified model is then used to design the PID controller to set the target linear and rotational velocities. Simulation and experimental studies are presented to validate the theoretical findings.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages100-105
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CityNagaoka, Niigata
Period10/3/2110/3/24

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Padhy, P. K., Sasaki, T., Nakamura, S., & Hashimoto, H. (2010). Modeling and position control of mobile robot. In International Workshop on Advanced Motion Control, AMC (pp. 100-105). [5464018] https://doi.org/10.1109/AMC.2010.5464018