Parking control of a center-articulated mobile robot in presence of measurement noise

Author

Delrobaei, Mehdi ; McIsaac, Kenneth A.

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada

fYear

2010

fDate

28-30 June 2010

Firstpage

453

Lastpage

457

Abstract

Articulated steering vehicles (with active joint) are preferable for navigation in narrow environments due to their high maneuverability. In order to achieve closed-loop control of a center-articulated mobile robot, feedback from the goal´s position and orientation is needed. In practice, the measurement would be noisy. In this paper, we first investigate a kinematic model for center-articulated mobile robots, and propose a method to control a parking maneuver. Then, using a beacon-based positioning system, we show the effectiveness of this method in the presence of measurement noise.

Keywords

mobile robots; path planning; position control; robot kinematics; articulated steering vehicles; beacon based positioning system; center articulated mobile robot; closed loop control; measurement noise; mobile robot kinematic; parking control; Active noise reduction; Electric variables measurement; Kinematics; Mobile robots; Motion planning; Noise measurement; Path planning; Position measurement; Remotely operated vehicles; Working environment noise; Articulated steering; measurement noise; parking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-6503-3

Type

conf

DOI

10.1109/RAMECH.2010.5513150

Filename

5513150