This paper introduces a method to obtain the proper control input by generating speed profile with small amount of calculation when moving wheeled mobile robot (WMR) in both simulation and real time in two dimensional (2D) space. The target is to obtain the optimal or sub-optimal time when moving the WMR from one point to the other point in 2D space with a pure straight line or a pure rotation on considering the constraints of physical limitations, speed limitations, acceleration limitations as well as the comfort parameters. By using different order of tracking differentiator (TD), proper reference speed profile is successfully generated for reference trajectory. With the proposed controller synthesis strategy, the proper control input is finally produced. The proposed method is applicable to WMR-like vehicles, including unicycle drive, differential drive, steering drive, car-like et al.
A Path tracking controller design method for wheeled mobile robots: one dimensional case
2022-10-28
943178 byte
Conference paper
Electronic Resource
English
Design of a controller for wheeled mobile robots based on automatic movement sequencing
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