Trajectory Tracking Control of Mobile Robot Moving along Wall. Hierarchical Vehicle Control System Consisting of Desired Signal Generator Using Laser Displacement Sensors and Velocity Controller.

摘要

In this study, first, the hierarchical vehicle control system of a mobile robot moving along a wall is proposed. The hierarchical vehicle control system consists of a desired signal generator of wheel velocities using two laser displacement sensors and a wheel velocity controller. The wheel velocity controller consists of PI control and disturbance observer. Then, the numerical simulations and the experiments have been carried out, and the high-precision trajectory tracking control performance of the present hierarchical vehicle control system is confirmed.