Autor:
Michałek, Maciej ; Dutkiewicz, Piotr ; Kiełczewski, Marcin ; Pazderski, Dariusz
Współtwórca:
Tytuł:
Podtytuł:
Tytuł publikacji grupowej:
Temat i słowa kluczowe:
differentially driven mobile robot ; skid-slip compensation ; trajectory tracking ; vector fields
Abstract:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Data wydania:
Typ zasobu:
DOI:
Strony:
Źródło:
AMCS, volume 19, number 4 (2009) ; kliknij tutaj, żeby przejść