Please use this identifier to cite or link to this item:
http://repositorio.ufc.br/handle/riufc/64709| Type: | Artigo de Evento |
| Title: | Trajectory tracking control of a nonholonomic mobile robot with differential drive |
| Title in English: | Trajectory tracking control of a nonholonomic mobile robot with differential drive |
| Authors: | Sousa, Rigoberto Luis Silva Forte, Marcus Davi do Nascimento Nogueira, Fabrício Gonzalez Torrico, Bismark Claure |
| Keywords: | Mobile robots;Robot kinematics;Wheels;Trajectory;Kinematics;Mathematical model |
| Issue Date: | 2016 |
| Publisher: | IEEE - All rights reserved - https://ieeexplore.ieee.org/document/7585356 |
| Citation: | SOUSA, Rigoberto Luis Silva; FORTE, Marcus Davi do Nascimento; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Trajectory tracking control of a nonholonomic mobile robot with differential drive. In: IEEE BIENNIAL CONGRESS OF ARGENTINA (ARGENCON), 3th., 15-17 June 2016, Buenos Aires, Argentina. Proceedings[…], US: IEEE, 2016. DOI: 10.1109/ARGENCON.2016.7585356 |
| Abstract: | This paper presents the development and trajectory tracking control of a nonholonomic mobile robot with differential drive. The used control system is composed of two loops cascaded, with internal PID controlling the speed of the two wheels and an external loop controlling the robot position and orientation. The second one is a feedfoward kinematics controller which is tuned according to desired closed-loop characteristics specified by the user. The control strategies were embedded in a digital module based in a 32-bit ARM microcontroller. In order to evaluate the performance of the developed robot, trajectory tracking tests were carried out for different trajectories and initial conditions. Preliminary experimental results are presented for reference trajectories without obstacles. |
| Abstract in Spanish: | Este artículo presenta la implementación práctica de un sistema de control para seguimiento de trayectorias de un robot móvil no holonómico de tracción diferencial. El sistema de control está basado en dos lazos, un lazo interno para el control de velocidad de las ruedas y un lazo externo para el control de la posición y orientación del robot. El lazo interno es controlado a través de dos controladores PID y dos encoders, por otro lado el lazo externo a través de un controlador cinemático prealimentado. El sistema de control es proyectado de acuerdo a especificaciones de lazo cerrado definidos por el usuario. La estrategia de control fue embarcada en microcontrolador ARM 32-bits con el fin de evaluar el desempeño del robot real. Fueron realizados varios experimentos de seguimiento de trayectorias con condiciones iniciales diferentes. Todos los experimentos fueron realizados considerando que no existen obstáculos. |
| URI: | http://www.repositorio.ufc.br/handle/riufc/64709 |
| Appears in Collections: | DEEL - Trabalhos apresentados em eventos |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 2016_eve_rlssousa.pdf | 410,7 kB | Adobe PDF | View/Open |
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