Title :
Correction of odometry errors in a tri-wheel mobile robot
Author :
Ryszard Beniak;Tomasz Pyka
Author_Institution :
Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Opole, Poland
Abstract :
This paper presents a simple algorithm for controlling robot trajectory that accounts for the torsion angle of a castor wheel. We identify the dynamics of the castor wheel as a plant of the second order inertia and then we successfully apply this information in the PWM (Pulse Width Modulation) regulator.
Keywords :
"Wheels","Mobile robots","Trajectory","Regulators","Robot motion","Delays"
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
DOI :
10.1109/MMAR.2015.7283971
