HEADING PREDICTION CONTROL ALGORITHM FOR WHEELED MOBILE ROBOT

摘要

A heading prediction control algorithm for wheeled mobile robot is presented in this paper. Heading prediction can be obtained from steering angle and velocity of the robot in real time, and also summed with measured heading of the robot to be used for controlling the feedback heading. In heading control simulation and experiments, a PID controller with heading prediction is tested. Compared with regular control method it can adapt wider velocity range and obviously improve dynamic characteristics of the controller.