Title :
Speed control of differentially driven wheeled mobile robots - tracking and synchronization
Author :
Huang, L. ; Yu, W. ; Jhajharia, S.K.
Author_Institution :
Sch. of Electr. & Electron. Eng., Singapore Polytech., Singapore
Abstract :
A speed control scheme for a differentially driven wheeled mobile robot is presented in this paper. In the scheme, a compensator for the angular speed is combined with the independent speed control loops of the robot. The controller achieves tracking and synchronization of the speeds of the driving wheels of the robot. The effectiveness of the proposed scheme is verified by the simulation and experimental results.
Keywords :
angular velocity control; mobile robots; synchronisation; tracking; compensator; differentially driven wheeled mobile robot; speed control; Error correction; Feedback; Mobile robots; Motion control; Robot control; Robot sensing systems; Three-term control; Trajectory; Velocity control; Wheels;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 2003. IMTC '03. Proceedings of the 20th IEEE
Print_ISBN :
0-7803-7705-2
DOI :
10.1109/IMTC.2003.1207982
