NDLI: Mobile Robot Tracking Control Experiments along Memorized Planed Trajectories

Content Provider	IEEE Xplore Digital Library
Author	Nitulescu, M.
Copyright Year	2006
Description	Author affiliation: Fac. of Autom., Comput. & Electron., Craiova Univ. (Nitulescu, M.)
Abstract	This paper presents and analyses some results in path tracking control on complex plane trajectories for a differential wheeled mobile robot with memorized trajectories. The path planning and the path tracking control play an important role in control performance of mobile robots, which has two degrees of freedom of linear and rotational motions. Since differential wheeled mobile robots have non-linear cinematic characteristics, path planning and path control becomes very difficult to design from the viewpoints of optimality and stability. There exists inevitable path error between the current position of the robot and the desired path due to the imperfect tracking control of driving wheel velocities or environmental disturbances. This path deviation should be corrected by on-line adjustment of the desired linear and rotational velocities of the robot in the execution level called path-tracking control
Sponsorship	IEEE Comput. Soc. - Test Technol. Tech. Council Tech. Uni. of Cluj-Napoca IPA - R&D Inst. for Autom., Center for Tech. Transfer Cluj Uni. of Girona Romanian Minist. of Educ. and Res. Romanian Acad. for Tech. Sci. SRAIT- Romanian Soc. of Autom. and Tech. Informatics
Starting Page	296
Ending Page	301
File Size	356083
Page Count	6
File Format	PDF
ISBN	142440360X
DOI	10.1109/AQTR.2006.254648
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-25
Publisher Place	Romania
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tracking Stability Robot control Velocity control Optimal control Path planning Trajectory Error correction Mobile robots Motion control
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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