DocumentCode
2508772
Title
Control stepsize optimization for tri-wheel mobile robot
Author
Pyka, T. ; Beniak, R.
Author_Institution
Inst. of Electromech. Syst. & Ind. Electron., Opole Univ. of Technol., Opole, Poland
fYear
2011
fDate
6-8 Oct. 2011
Firstpage
73
Lastpage
76
Abstract
The paper presents the method of searching the effective stepsize in the mobile robot with the free-sliding wheel. The model had equations, which describe DC motors, which brings the model closer to the real mobile robot. Additionally, we simulated the varying friction coefficient of the wheel.
Keywords
mobile robots; wheels; control stepsize optimization; free-sliding wheel; tri-wheel mobile robot; wheel friction coefficient; Equations; MIMO; Mathematical model; Mobile robots; Trajectory; Wheels; effective control; mobile robot with free wheel; step size;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrodynamics and Mechatronics (SCE III), 2011 3rd International Students Conference on
Conference_Location
Opole
Print_ISBN
978-1-4244-9694-5
Type
conf
DOI
10.1109/SCE.2011.6092128
Filename
6092128
Link To Document