Numerical methods based controller design for mobile robots

This paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tra...

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Bibliographic Details
Published inRobotica Vol. 27; no. 2; pp. 269 - 279
Main Authors Scaglia, Gustavo, Montoya, Lucía Quintero, Mut, Vicente, di Sciascio, Fernando
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.03.2009
Subjects
Approximation
Design engineering
Digital control
Lasers
Mathematical analysis
Mathematical models
Mobile robots
Nonlinear control
Numerical analysis
Numerical methods
Robots
Tracking
Tracking errors
Trajectory control
Digital control
Tracking
Trajectory control
Mobile robots
Numerical methods
Nonlinear control
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Summary:This paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers. Also, an application of the proposed controllers to a leader robot following problem is shown; in it, the relative position between robots is obtained through a laser.
Bibliography:istex:7348E20C40474EE937A0A52C616F64BB0E58CA07
ArticleID:00466
PII:S0263574708004669
ark:/67375/6GQ-XTWZT1KX-1
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574708004669