Title :
The shape tracking design of wheeled mobile robot motion
Author :
Wang Xiao ; Hu Jun-min ; Wang Yin-He ; Luo Liang
Author_Institution :
Fac. of Autom., Guangdong Univ. of Technol., Guangzhou, China
Abstract :
Based on the robot mathematic model in kinematics, we analyze the locomotory control of the wheeled mobile robot (WMR) with nonholonomic constraint. Firstly, a leading controller is designed to move the robot from a primary point to a reference point in the finite time. Secondly, a shape congruence controller is devised to make the robot moving along the similar sections. Consequently, the robot is guaranteed to reaching the target. Computer simulation experiment shows that the algorithm enables the robot to move to the target along the similar sections accurately, smoothly and rapidly.
Keywords :
control system synthesis; mathematical analysis; mobile robots; motion control; robot kinematics; tracking; WMR; locomotory control; nonholonomic constraint; robot kinematics; robot mathematic model; shape congruence controller; shape tracking design; wheeled mobile robot motion; Kinematics; Mobile robots; Motion control; Open loop systems; Path planning; Robotics and automation; Shape control; Sliding mode control; State feedback; Tracking; WMR; congruence controller; leading controller; the control of sliding mode variable structure;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5194880
