Title :
Control Law Design of Mobile Robot Trajectory Tracking and Development of Simulation Platform
Author :
Yi, Yang ; Mengyin, Fu ; Changsheng, Sun ; Meiling, Wang ; Cheng, Zhao
Author_Institution :
Beijing Inst. of Technol., Beijing
Abstract :
Autonomous steering control of wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.
Keywords :
control engineering computing; control system synthesis; fuzzy control; mathematics computing; mobile robots; motion control; robot dynamics; robot kinematics; steering systems; virtual prototyping; ADAMS; ATRV2 mobile robot; MATLAB; autonomous steering control; control law design; dynamic analysis; fuzzy control; kinematic constraint; mobile robot trajectory tracking; power spectra density function; random number sequence; robot motion; robot simulation; simulation platform; uncertain control factors; virtual prototype technology; wheeled skid-steer mobile robot; Density functional theory; Fuzzy control; Kinematics; MATLAB; Mobile robots; Robot control; Robot motion; Robust control; Trajectory; Virtual prototyping; co-simulation platform; dynamic analysis; fuzzy control; mobile robot; trajectory tracking;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347355
