Path Tracking of Wheeled Mobile Robots Based on Dynamic Prediction Model

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Trajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

متن کامل

Combined Trajectory Tracking and Path following Control for Dynamic Wheeled Mobile Robots

The paper presents a solution to the problem of combined trajectory tracking and path following system design for underactuated mobile robots with non negligible dynamics. This problem is motivated by the practical need to develop control systems for mobile robots that can yield good trajectory tracking performance while keeping some of the properties that are normally associated with path foll...

متن کامل

A Smooth Path Tracking Algorithm for Wheeled Mobile Robots with Dynamic Constraints

In order to avoid wheel slippage or mechanical damage during the mobile robot navigation, it is necessary to smoothly change driving velocity or direction of the mobile robot. This means that dynamic constraints of the mobile robot should be considered in the design of path tracking algorithm. In the study, a path tracking problem is formulated as following a virtual target vehicle which is ass...

متن کامل

Model Algorithm Tracking Control of Wheeled Mobile Robots

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steered wheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is contr...

متن کامل

Probability-based Optimal Path Planning for Two-wheeled Mobile Robots

Most dynamic systems show uncertainty in their behavior. Therefore, a deterministic model is not sufficient to predict the stochastic behavior of such systems. Alternatively, a stochastic model can be used for better analysis and simulation. By numerically integrating the stochastic differential equation or solving the Fokker-Planck equation, we can obtain a probability density function of the ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IEEE Access

سال: 2019

ISSN: 2169-3536

DOI: 10.1109/access.2019.2903934