Title :
Controllers for trajectory tracking and string-like formation in Wheeled Mobile Robots with bounded inputs
Author :
Ailon, Amit ; Zohar, Ilan
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
This study presents simple controllers for achieving trajectory tracking for the kinematic model of a Wheeled Mobile Robots (WMRs) with bounded inputs. The proposed controllers are based on smooth uniformly bounded functions that can easily be realized. The underlying tracking controller can be applied to control a group of WMRs, in particular for achieving a string-like formation.
Keywords :
mobile robots; position control; robot kinematics; kinematic model; string like formation; trajectory tracking controllers; wheeled mobile robots; Actuators; Control system synthesis; Kinematics; Mobile robots; Path planning; Research and development; Trajectory; Vehicle dynamics; Velocity control; Wheels;
Conference_Titel :
MELECON 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference
Conference_Location :
Valletta
Print_ISBN :
978-1-4244-5793-9
DOI :
10.1109/MELCON.2010.5476283
