Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

• Autorzy: Maciej Michałek , Piotr Dutkiewicz , Marcin Kiełczewski , Dariusz Pazderski
• Języki publikacji: EN

Abstrakty

EN

The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.

Słowa kluczowe

EN

differentially driven mobile robot; skid-slip compensation; trajectory tracking; vector fields

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2009
• Tom: 19
• Numer: 4
• Strony: 547-559

Daty

wydano

2009

otrzymano

2008-12-16

poprawiono

2009-07-13

Twórcy

autor

Maciej Michałek

• Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland

autor

Piotr Dutkiewicz

• Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland

autor

Marcin Kiełczewski

• Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland

autor

Dariusz Pazderski

• Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland

Bibliografia

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Identyfikatory

DOI

10.2478/v10006-009-0043-1