Title :
Navigation control of a mobile robot
Author :
Amparo Dora Palomino Merino;Maria Aurora Diozcora Vargas Trevino;Sergio Vergara Limon;María Aurora Diozcora Vargas Treviño
Author_Institution :
Fac. de Cienc. de la Electron., Maestria en Cienc. de la Electron., Opcion en Automatizacion, Benemerita Univ. Autonoma de Puebla, Mexico City, Mexico
Abstract :
Kinematic and dynamic models of a mobile robot type Ackerman are developed in this paper, with the aim of implement a control system of trajectory tracking and we applied to the experimental platform of the HUMMER H2 mobile robot. For this purpose the predictive control is applied to dynamic model of the vehicle, to simulate its real plant response, considering the forces in the environment. On the other hand the kinematic model is used for obtain the location and direction of the mobile robot in a plane, considering the sensors information via radio frequency (RF) using ARDUINO, LABVIEW and XBEE platforms for data acquisition and processing. We present the experimental platform used.
Keywords :
"Vehicles","Mobile robots","Wheels","Vehicle dynamics","Kinematics","Mathematical model"
Conference_Titel :
Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2015 International Conference on
Print_ISBN :
978-1-4673-8328-8
DOI :
10.1109/ICMEAE.2015.51
