- Tytuł:
- A Time optimal path planning for trajectory tracking of wheeled mobile robots
- Autorzy:
-
Vivekananthan, R.
Karunamoorthy, L. - Powiązania:
- https://bibliotekanauki.pl/articles/384765.pdf
- Data publikacji:
- 2011
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
wheeled robot
time optimal
trajectory tracking
motion control
fuzzy logic algorithm
Matlab environment - Opis:
- Avariety of approaches for trajectory tracking control of wheeled mobile robots have been implemented. This paper presents a model for a time optimal motion control based on fuzzy logic algorithm for a three wheeled nonholonomic mobile robot with desired function. Simplified kinematic equations of a differentially driven robot are designed to follow the path with evaluated linear and angular velocities. Here, the proposed kinematic model is based on a simple geometric approach for getting the desired position and orientation. The speeds are varied depending on the variations in the path and on the posture of the robot. The robot is subjected to move in a constrained workspace. The control architecture was developed based on fuzzy logic algorithm to obtain time optimal motion control of robot trajectory tracking. The kinematic model was done on Matlab software environment and profound impact on the ability of the nonholonomic mobile robot to track the path was evaluated.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 2; 35-41
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł