TRAJECTORY TRACKING FOR A MOBILE ROBOT WITH SKID-SLIP COMPENSATION IN THE VECTOR-FIELD-ORIENTATION CONTROL SYSTEM

被引：27

作者：

Michalek, Maciej ^{[1
]}

Dutkiewicz, Piotr ^{[1
]}

Kielczewski, Marcin ^{[1
]}

Pazderski, Dariusz ^{[1
]}

机构：

[1] Poznan Univ Tech, Chair Control & Syst Engn, PL-60965 Poznan, Poland

来源：

INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE | 2009年 / 19卷 / 04期

关键词：

differentially driven mobile robot; skid-slip compensation; trajectory tracking; vector fields; VEHICLES;

D O I：

10.2478/v10006-009-0043-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：547 / 559

页数：13

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