TY - GEN
T1 - Modeling and position control of mobile robot
AU - Padhy, P. K.
AU - Sasaki, Takeshi
AU - Nakamura, Sousuke
AU - Hashimoto, Hideki
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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U2 - 10.1109/AMC.2010.5464018
DO - 10.1109/AMC.2010.5464018
M3 - Conference contribution
AN - SCOPUS:77953774700
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 100
EP - 105
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -