DocumentCode
2525161
Title
Controllers for trajectory tracking and string-like formation in Wheeled Mobile Robots with bounded inputs
Author
Ailon, Amit ; Zohar, Ilan
Author_Institution
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer-Sheva, Israel
fYear
2010
fDate
26-28 April 2010
Firstpage
1563
Lastpage
1568
Abstract
This study presents simple controllers for achieving trajectory tracking for the kinematic model of a Wheeled Mobile Robots (WMRs) with bounded inputs. The proposed controllers are based on smooth uniformly bounded functions that can easily be realized. The underlying tracking controller can be applied to control a group of WMRs, in particular for achieving a string-like formation.
Keywords
mobile robots; position control; robot kinematics; kinematic model; string like formation; trajectory tracking controllers; wheeled mobile robots; Actuators; Control system synthesis; Kinematics; Mobile robots; Path planning; Research and development; Trajectory; Vehicle dynamics; Velocity control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
MELECON 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference
Conference_Location
Valletta
Print_ISBN
978-1-4244-5793-9
Type
conf
DOI
10.1109/MELCON.2010.5476283
Filename
5476283
Link To Document