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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：
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.
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页码：401 / 410
页数：10
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