- Tytuł:
- Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
- Autorzy:
-
Michałek, M.
Dutkiewicz, P.
Kiełczewski, M.
Pazderski, D. - Powiązania:
- https://bibliotekanauki.pl/articles/929982.pdf
- Data publikacji:
- 2009
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
robot mobilny
śledzenie trajektorii
pole wektorowe
differentially driven mobile robot
skid-slip compensation
trajectory tracking
vector fields - Opis:
- The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 547-559
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł