Interpolation Based Controller for Trajectory Tracking in Mobile Robots
作者: Mario E. SerranoSebastian A. GodoyL. QuinteroGustavo J. E. Scaglia
作者单位: 1Universidad Nacional de San Juan
2Universidad de EAFIT
刊名: Journal of Intelligent & Robotic Systems, 2017, Vol.86 (3-4), pp.569-581
来源数据库: Springer Nature Journal
DOI: 10.1007/s10846-016-0422-4
关键词: Tracking controlInterpolationNon-linear multivariable controlMobile robot
原始语种摘要: In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.
全文获取路径: Springer Nature  (合作)
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影响因子:0.827 (2012)

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关键词翻译
关键词翻译
  • Tracking 追踪
  • robot 机扑
  • trajectory 轨道
  • wheeled 有轮的
  • interpolation 内插法
  • kinematics 运动学
  • minimize 最小化
  • mobile 可动的
  • multivariable 多变数的
  • trigonometric 三角的