Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics

This paper presents a path following controller that is suitable for asymmetrical planar robots with significant mass and limited motor torques. the controller is resistant against environmental forces, and inaccurate estimates of robot's inertia, by estimating their effects with unscented kalm...

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Bibliographic Details
Main Authors: Pitkanen, V., Halonen, V., Kemppainen, A., Roning, J.
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Force
Mobile robots
Robot kinematics
Torque
Wheels
Online Access:Request full text
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Description
Summary:This paper presents a path following controller that is suitable for asymmetrical planar robots with significant mass and limited motor torques. the controller is resistant against environmental forces, and inaccurate estimates of robot's inertia, by estimating their effects with unscented kalman filter. the controller outputs wheel torque commands which take in account the motor torque limits and given relative priority of internal control elements. the method presented is thoroughly explained and the simulation results demonstrate the performance of the controller.
ISSN:2577-087X
DOI:10.1109/ICRA.2019.8794198