Title :
Autonomous mobile robot control using kinematics and dynamics based approaches-an experimental analysis
Author :
Necsulescu, D.S. ; Lonmo, V. ; Kim, B. ; Droguet, E.
Author_Institution :
Dept. of Mech. Eng., Ottawa Univ., Ont., Canada
Abstract :
Motion control of wheeled mobile robots is based on kinematic or dynamic models and has to take into account nonholonomic constraints resulting from ideal rolling requirement. In order to achieve autonomy in motion, the trajectory has to be generated in real time and has to be corrected in case of reaching a constraint limit, as for example servomotor torque saturation limit. In this paper, results of experimental verification of kinematics and dynamics based control strategies are reported and analysed from the point of view of computational complexity versus performance limitations
Keywords :
computational complexity; mobile robots; motion control; path planning; robot dynamics; robot kinematics; servomotors; autonomous mobile robot control; computational complexity; dynamics; ideal rolling requirement; kinematics; nonholonomic constraints; performance limitations; servomotor torque saturation limit; trajectory generation; wheeled mobile robots; DC motors; Kinematics; Mobile robots; Motion control; Open loop systems; Robot control; Servomotors; State feedback; Torque; Wheels;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.565973
