OTHER
Dynamic tracking of a wheeled mobile robot
Zhicong Deng, Michael Brady
- Year
- 2002
- Citations
- 6
Abstract
Based on a dynamic model of a wheeled mobile robot (WMR), a dynamic control method is developed so that the WMR tracks a desired trajectory. The full nonlinear dynamics and the kinematic constraints are embodied in the controller. The steering and driving torques are chosen as the control inputs. Examples are presented that demonstrate the effectiveness of the model and the control methods.
Keywords
Mobile robotKinematicsTrajectoryControl theory (sociology)Computer scienceController (irrigation)Tracking (education)TorqueNonlinear systemControl engineering
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