TY - GEN
T1 - Trajectory Tracking Control of a Differential Wheeled Mobile Robot
T2 - 25th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
AU - Cornejo, Jair
AU - Magallanes, Jose
AU - Denegri, Eddy
AU - Canahuire, Ruth
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/6
Y1 - 2018/11/6
N2 - Wheeled mobile robots (WMR) must be designed in order to achieve good performance in activities such as exploration, navigation, mapping, etc. For the development of the WMR, the type of locomotion and its holonomic and non-holonomic constraints should be considered. Some alternatives of the operational configuration of the robot are differential drive, Ackerman steering, or Omni-directional. In that context, this work uses the differential drive configuration due to its simple mathematical model and low computational cost which allows for easy implementation of several specific tasks. The focus of this work is the implementation of a trajectory tracking control for a differential mobile robot based on polar coordinates where it will be compared to an LQR controller. The controllers based on polar coordinates and LQR were implemented in an experimental prototype of a differential mobile robot where the NI MyRIO embedded hardware and the Labview Software were used. The obtained results of the performance of the differential wheeled mobile robot for the designed controllers are shown and discussed in this paper.
AB - Wheeled mobile robots (WMR) must be designed in order to achieve good performance in activities such as exploration, navigation, mapping, etc. For the development of the WMR, the type of locomotion and its holonomic and non-holonomic constraints should be considered. Some alternatives of the operational configuration of the robot are differential drive, Ackerman steering, or Omni-directional. In that context, this work uses the differential drive configuration due to its simple mathematical model and low computational cost which allows for easy implementation of several specific tasks. The focus of this work is the implementation of a trajectory tracking control for a differential mobile robot based on polar coordinates where it will be compared to an LQR controller. The controllers based on polar coordinates and LQR were implemented in an experimental prototype of a differential mobile robot where the NI MyRIO embedded hardware and the Labview Software were used. The obtained results of the performance of the differential wheeled mobile robot for the designed controllers are shown and discussed in this paper.
KW - LQR controller
KW - Polar coordinates control
KW - Tracking control
KW - differential drive
UR - http://www.scopus.com/inward/record.url?scp=85058063051&partnerID=8YFLogxK
U2 - 10.1109/INTERCON.2018.8526366
DO - 10.1109/INTERCON.2018.8526366
M3 - Conference contribution
AN - SCOPUS:85058063051
T3 - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
BT - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 8 August 2018 through 10 August 2018
ER -