Title :
Dynamic tracking of a wheeled mobile robot
Author :
Deng, Zhongping ; Brady, Michael
Author_Institution :
Dept. of Eng. Sci.,Oxford Univ., UK
Abstract :
Based on a dynamic model of a wheeled mobile robot (WMR), a dynamic control method is developed so that the WMR tracks a desired trajectory. The full nonlinear dynamics and the kinematic constraints are embodied in the controller. The steering and driving torques are chosen as the control inputs. Examples are presented that demonstrate the effectiveness of the model and the control methods
Keywords :
mobile robots; control inputs; driving torques; dynamic control method; dynamic tracking; kinematic constraints; nonlinear dynamics; steering torque; trajectory; wheeled mobile robot; Mobile robots; Motion control; Motion planning; Robot control; Robot kinematics; Torque control; Trajectory; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583754
