Modeling a wheeled mobile robot for autonomous navigation design

被引：0
|
作者：
Lin, WS [1 ]
Huang, CL [1 ]
Chuang, MK [1 ]
Liu, GC [1 ]
机构：
[1] Natl Taiwan Univ, Dept Elect Engn, Taipei 106, Taiwan
来源：
PROCEEDINGS OF THE 23RD IASTED INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION, AND CONTROL | 2004年
关键词：
autonomous navigation; mobile robot; nonholonomic system; modeling; fuzzy control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To facilitate autonomous navigation design, the kinematic and dynamic model of a wheeled mobile robot is built by using Lagrange formalism. A prototype mobile robot has been developed and its model parameters are measured for computer simulation. Equipped with a fuzzy autonomous navigation system, the prototype system has been studied both by computer simulation and experiment for tracking responses. Simulation and experimental results are compared to verify the fidelity of the model in performing autonomous navigation.
引用
收藏
页码：275 / +
页数：3
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