学术探索
学术期刊
新闻热点
数据分析
智能评审

MODELING AND PATH-TRACKING CONTROL OF A MOBILE WHEELED ROBOT WITH A DIFFERENTIAL DRIVE

被引：24
作者：
DESANTIS, RM
机构：
[1] Ecole Polytechnique de Montreal, DEGEGI, Montreal H3C 3A7
来源：
ROBOTICA | 1995年 / 13卷
关键词：
MOBILE ROBOTS; MOTION CONTROL; PATH TRACKING; SLIPPAGE; AUTONOMOUS; NONHOLONOMIC CONSTRAINTS;
D O I：
10.1017/S026357470001883X
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Topics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.
引用
收藏
页码：401 / 410
页数：10
相关论文
共 32 条
  • [1] Anderson S.E., Proceedings of the 3rd International Conference on Automated Vehicle Systems, pp. 199-208, (1985)
  • [2] Cox I.J., Wilfong G.T., Autonomous Robot Vehicles, (1990)
  • [3] Giralt G., Les Robots Mobiles Autonomes, (1988)
  • [4] Hemami A., Mehrabi M.G., Cheng R.M.H., A Synthesis of an Optimal Control Law for Path-Tracking in Mobile Robots, Automatica, 8, 2, pp. 383-387, (1992)
  • [5] Shladover S.E., Et al., Automatic Vehicle Control Developments in the Path Program, IEEE Trans on Vehicular Technology, 40, 1, pp. 1-8, (1991)
  • [6] DeSantis R.M., Path-Tracking for Tractor-Trailer-like Robots, Int. J. Rob. Res.
  • [7] DeSantis R.M., Path-Tracking for a Car-like Robot with Single and Double Steering, IEEE Trans on Vehicular Technology.
  • [8] Borenstein J., Koren Y., Motion Control Analysis of a Mobile Robot, J. Dynamic Systems Measurement and Control, Trans. ASME, 109, pp. 73-79, (1987)
  • [9] Saha K.S., Angeles J., Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement, Trans. of the ASME Journal of Applied Mechanics, 58, pp. 238-243, (1991)
  • [10] DeSantis R.M., Hurteau R., Veicoli Autonomi: Controllo del Movimento con Technica Sliding Mode, Automazione e Strumentazione, 3, pp. 137-150, (1990)
1234