Trajectory tracking control of a non-holonomic mobile robot using iGPS and odometry

被引：10
|
作者：
Hada, Y [1 ]
Hemeldan, E [1 ]
Takase, K [1 ]
Gakuhari, H [1 ]
机构：
[1] Univ Electrocommun, Grad Sch Informat Syst, Chofu, Tokyo 1828585, Japan
来源：
PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS | 2003年
关键词：
D O I：
10.1109/MFI-2003.2003.1232596
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In order for a robot to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. This paper proposes a trajectory tracking control method for a non-holonomic mobile robot that utilizes both iGPS and odometry localization information to precisely calculate the robot's position. The iGPS is an indoor global positioning system that utilizes TV cameras mounted on the ceiling to locate the robot with respect to the world coordinate system, The iGPS localization information is sent to the robot via wireless LAN, and the robot estimates its position from this information and the robot's internal odometry. The experimental results show that the proposed method enables robust trajectory tracking, even after experiencing a significant disturbance.
引用
收藏
页码：51 / 57
页数：7
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