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A fast tracking error control method for an autonomous mobile robot

Published online by Cambridge University Press:  09 March 2009

S.S. Lee  and
J.H. Williams
S.S. Lee
Affiliation:
Automation and Robotics CentreSchool of ElectricalElectronic and Systems EngineeringUniversity of Wales College of Cardiff, East Building, Newport Road, Cardiff, CF21XH (U.K.)
J.H. Williams
Affiliation:
Automation and Robotics CentreSchool of ElectricalElectronic and Systems EngineeringUniversity of Wales College of Cardiff, East Building, Newport Road, Cardiff, CF21XH (U.K.)
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Summary

This paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several simulation results are presented using this method. The fast tracking error control method proposed is mainly hardware-independent and Hence can be applied to various kinds of mobile robots which have two differentially driven wheels. The method was implemented on an experimental vehicle, WCVS, The experimentation shows a performance suitable for practical applications.

Keywords

Autonomous mobile robotTracking error controlWheel Jacobian
Type
Research Article
Information
Robotica , Volume 11 , Issue 3 , May 1993 , pp. 209 - 215
Copyright
Copyright © Cambridge University Press 1993

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References

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