NDLI: Improving navigation of an Autonomous Mobile Robot using System Identification and Control

Content Provider	IEEE Xplore Digital Library
Author	Granja, A. Martins, J. Cardeira, C. da Costa, J.S.
Copyright Year	2007
Description	Author affiliation: Univ. Tecnica de Lisboa, Lisbon (Granja, A.; Martins, J.; Cardeira, C.; da Costa, J.S.)
Abstract	In this paper we present improvements in the track following of a differential drive autonomous robot system using system identification and control. The robot is made of industrial components and its main goal is to participate in mobile robotic competitions as well as to be used as a testbed for research and education experiments. The improvement of performance obtained by applying a controller, whose design is based on the system identification, is shown. The obtained model allows the design of a controller that improves the performance of the autonomous mobile robot, which is the main motivation in this paper. The results presented compare the performance before and after the controller design and implementation were performed. A practical approach in the identification of the robots system is presented, from the data acquisition to the controller's implementation on the mobile robot.
Starting Page	2948
Ending Page	2953
File Size	3203573
Page Count	6
File Format	PDF
ISBN	9781424407545
DOI	10.1109/ISIE.2007.4375083
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Mobile robots System identification Control systems Robot kinematics Robot sensing systems Velocity control Proportional control Service robots Robot control
Content Type	Text
Resource Type	Article

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