Autonomous mobile robot proprioceptive navigation and predictive trajectory tracking

被引：3
|
作者：
Jakubek, S. [1 ]
Seyr, M. [2 ]
Novak, G. [3 ]
机构：
[1] AVL List GmbH, A-8045 Graz, Austria
[2] Otto Bock Healthcare Prod GmbH, A-1070 Vienna, Austria
[3] Vienna Univ Technol, Comp Technol Inst, A-1040 Vienna, Austria
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2008年 / 81卷 / 06期
基金：
奥地利科学基金会;
关键词：
D O I：
10.1080/00207170701616882
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For an autonomous mobile robot a novel predictive control algorithm is presented, that enables both trajectory tracking and point stabilization. This algorithm is employed in conjunction with a proprioceptive navigation algorithm using either inertial or odometric data for posture estimation according to detected slip conditions. Based on the latter, slip control is made possible. Experimental results demonstrate the performance of the system.
引用
收藏
页码：989 / 1001
页数：13
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