Interpolation Based Controller for Trajectory Tracking in Mobile Robots

被引：0
|
作者：
Mario E. Serrano
Sebastian A. Godoy
L. Quintero
Gustavo J. E. Scaglia
机构：
[1] Universidad Nacional de San Juan,National Scientific and Technical Research Council (CONICET) and Instituto de Ingeniería Química
[2] Universidad de EAFIT,Departamento de Ciencias Matematicas
来源：
Journal of Intelligent & Robotic Systems | 2017年 / 86卷
关键词：
Tracking control; Interpolation; Non-linear multivariable control; Mobile robot;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.
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收藏
页码：569 / 581
页数：12
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