NDLI: Experimental implementation of a novel trajectory tracking control design on a full-sized nonholonomic tracked mobile robot with low-level velocities control systems

Content Provider	IEEE Xplore Digital Library
Author	Low, C.B.
Copyright Year	2014
Description	Author affiliation: DSO Nat. Labs., Singapore, Singapore (Low, C.B.)
Abstract	This paper presents experimental results of a novel trajectory tracking control design proposed in [21] for nonholonomic mobile robots. The mobile robots considered in this work are driven by low-level velocities control systems that possess non-trivial dynamical effects. The key trust of the tracking control design is that it can be implemented for the robots to track time-parameterized trajectories without the need of knowing the detailed dynamical models of the robots' velocities control systems. This feature is useful when adequately accurate models of the robots' low-level velocities control systems are difficult to obtain and the dynamical effects of the velocities controllers cannot be ignored. The tracking control design was implemented on a full-sized nonholonomic tracked mobile robot and experimented in some off-road environments with speeds up to 4.17m/sec. The obtained experimental results confirm the effectiveness of the proposed tracking control scheme, showing that the proposed control design can perform effective and stable trajectory tracking control in the off-road environments. The experimental results also provide the basis for investigating further improvement at the operating speed envelope, and applying the control design to perform multiple mobile robots coordinated motion control for such mobile robots.
Starting Page	1318
Ending Page	1323
File Size	847118
Page Count	6
File Format	PDF
ISBN	9781479974092
DOI	10.1109/CCA.2014.6981511
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Mobile robots Robot kinematics Tracking Velocity control
Content Type	Text
Resource Type	Article

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