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

fYear

2009

fDate

17-19 June 2009

Firstpage

604

Lastpage

607

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CCDC.2009.5194880

Filename

5194880