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
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;
Conference_Titel :
Electrodynamics and Mechatronics (SCE III), 2011 3rd International Students Conference on
Conference_Location :
Opole
Print_ISBN :
978-1-4244-9694-5
DOI :
10.1109/SCE.2011.6092128
