Numerical methods based controller design for mobile robots

This paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tra...

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Bibliographic Details
Published in:Robotica 2009-03, Vol.27 (2), p.269-279
Main Authors: Scaglia, Gustavo, Montoya, Lucía Quintero, Mut, Vicente, di Sciascio, Fernando
Format: Article
Language:English
Subjects:
Approximation
Design engineering
Digital control
Lasers
Mathematical analysis
Mathematical models
Mobile robots
Nonlinear control
Numerical analysis
Numerical methods
Robots
Tracking
Tracking errors
Trajectory control
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Summary:This paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers. Also, an application of the proposed controllers to a leader robot following problem is shown; in it, the relative position between robots is obtained through a laser.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574708004669