An autonomous control system designed for a non-holonomic wheeled mobile robot that is programmed to emulate a fixed-wing unmanned air vehicle (UAV) flying at constant altitude is experimentally validated. The overall system is capable of waypoint navigation, threat avoidance, real-time trajectory generation and trajectory tracking. Both the wheeled mobile robot experimental platform and the hierarchical autonomous control software architecture are introduced. Programmed to emulate a fixed-wing UAV flying at constant altitude, a non-holonomic mobile robot is assigned to follow a desired time-parameterised trajectory generated by a real-time trajectory generator to transition through a sequence of targets in the presence of static and popup threats. Hardware results of the autonomous control system where the trajectory tracker applies two velocity controllers accounting for fixed-wing UAV-like input constraints, are compared to simulation results of dynamic controllers that are based on non-smooth backstepping to demonstrate the effectiveness of the overall system.


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    Titel :

    Experimental validation of an autonomous control system on a mobile robot platform


    Beteiligte:
    Ren, W. (Autor:in) / Sun, J.S. (Autor:in) / Beard, R. (Autor:in) / McLain, T. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2007


    Format / Umfang :

    9 Seiten, 27 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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