Title :
Implementation and experimental validation of circular periodic motion generation for mobile robots using limit cycle systems
Author :
Yamada, K. ; Hara, N. ; Kokame, H. ; Konishi, K.
Author_Institution :
Dept. of Electr. & Inf. Syst., Osaka Prefecture Univ., Sakai, Japan
Abstract :
In this paper, we consider a circular periodic motion generation for nonholonomic mobile robots. We establish an experimental setup and implement the control law in the mobile robot “e-puck”. The effectiveness of the control law is experimentally validated.
Keywords :
limit cycles; mobile robots; motion control; circular periodic motion generation; e-puck; limit cycle systems; nonholonomic mobile robots; Clocks; Limit-cycles; Mobile robots; Simulation; Solid modeling; Trajectory; experimental validation; implementation; limit cycle; mobile robot; path following control;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
