The Shape Tracking Design of Wheeled Mobile Robot Motion

被引：0
|
作者：
Wang Xiao [1 ]
Hu Jun-min [1 ]
Wang Yin-he [1 ]
Luo Liang [1 ]
机构：
[1] Guangdong Univ Technol, Fac Automat, Guangzhou 510006, Guangdong, Peoples R China
来源：
CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年
关键词：
WMR; the control of sliding mode variable structure; leading controller; congruence controller;
D O I：
10.1109/CCDC.2009.5194880
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on the robot mathematic model in kinematics, we analysize the locomotory control of the wheeled mobile robot(WMR) with nonholonomic constraint. Firstly, a leading controller is designed to move the robot from a primary point to a reference point in the finite time. Secondly, a shape congruence controller is devised to make the robot moving along the similar sections. Consequently, the robot is guaranteed to reaching the target. Computer simulation experiment shows that the algorithm enables the robot to move to the target along the similar sections accurately, smoothly and rapidly.
引用
收藏
页码：604 / 607
页数：4
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