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Numerical methods based controller design for mobile robots

Published online by Cambridge University Press:  01 March 2009

Gustavo Scaglia ,
Lucía Quintero Montoya ,
Vicente Mut  and
Fernando di Sciascio
Gustavo Scaglia*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
Lucía Quintero Montoya
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
Fernando di Sciascio
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
*
*Corresponding author. E-mail: gscaglia@inaut.unsj.edu.ar
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Summary

This paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers. Also, an application of the proposed controllers to a leader robot following problem is shown; in it, the relative position between robots is obtained through a laser.

Keywords

Nonlinear controlTrajectory controlTrackingMobile robotsDigital controlNumerical methods
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 269 - 279
Copyright
Copyright © Cambridge University Press 2008

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