Modeling and position control of mobile robot

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

研究成果: Conference contribution

22 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ100-105
ページ数6
DOI
出版ステータスPublished - 2010
外部発表はい
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Conference

Conference2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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