Please use this identifier to cite or link to this item: http://www.repositorio.ufc.br/handle/riufc/65108
Title in Portuguese: Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
Title: Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
Author: Forte, Marcus Davi do Nascimento
Correia, Wilkley Bezerra
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
Keywords: Sensor fusion
Mobile robots
Inertial measurement units
Linear control systems
Robot kinematics
Issue Date: 2018
Publisher: IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved
Citation: FORTE, Marcus Davi do Nascimento; CORREIA, Wilkley Bezerra; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control. IFAC-PapersOnLine, v.51-4 p. 364–369, 2018. DOI: 10.1016/j.ifacol.2018.06.092
Abstract: This paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The use of an Inertial Measuring Unit (IMU) allows for a precise posture feedback by using a Kalman Filter on the output of the sensors. For such purpose, a Sensor Fusion technique is also needed in order to combine multiple sensor output so that physical limitations of each sensor may be compensated.
URI: http://www.repositorio.ufc.br/handle/riufc/65108
metadata.dc.type: Artigo de Evento
ISSN: 2405-8963
metadata.dc.identifier.other: DOI: 10.1016/j.ifacol.2018.06.092
Appears in Collections:DEEL - Artigos publicados em revista científica

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