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metadata.dc.type: Artigo de Evento
Title in Portuguese: Trajectory Tracking Control of a Mobile Robot Using Lidar Sensor For Position and Orientation Estimation
Title: Trajectory Tracking Control of a Mobile Robot Using Lidar Sensor For Position and Orientation Estimation
Author: Lima, Thiago Alves
Forte, Marcus Davi do Nascimento
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
Paula, Adriano Rodrigues de
Issue Date: 2016
Publisher: IEEE - All rights reserved -
Keywords: Mobile robots
Robot sensing systems
Robot kinematics
Mathematical model
Citation: LIMA, Thiago Alves; FORTE, Marcus Davi do Nascimento; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure; PAULA, Adriano Rodrigues de. Trajectory tracking control of a mobile robot using lidar sensor for position and orientation estimation. IEEE INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON), 12th., 20-23 nov. 2016, Curitiba, PR, Brasil. Proceedings[…], US: IEEE, 2017. p.1-6, INSPEC Accession Number: 16726348, DOI: 10.1109/INDUSCON39439.2016
Abstract: In this paper it is investigated the trajectory tracking control of a wheeled mobile robot using a laser rangefinder sensor to estimate the robot position and orientation (posture). This technique is compared with the conventional odometry method where the encoders data are used for posture estimation. The paper also presents the description of the robot as well as its mathematical modeling. Two controllers in cascade were used to implement the tracking control. A kinematics controller generates the references for internal motor speed controllers. Experimental results in an indoor environment are presented for trajectories with no obstacles.
metadata.dc.identifier.other: INSPEC Accession Number: 16726348
DOI: 10.1109/INDUSCON.2016.7874573
Appears in Collections:DEEL - Trabalhos apresentados em eventos

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