Abstract
This paper deals with the problem of fixed-point target control for the library management robot. The objective is to control the bookstore management mobile robot in narrow paths, enabling it to arrive at the specified target location from any initial location along the planned path in the shortest time. First, a localization approach of the point location and attitude angle of the mobile robot is proposed. Second, a linear decomposition control approach is proposed, which decomposes the motion of the bookstore management robot into straight line motion and in-situ rotation, and the dynamic models of the straight line motion and the in-situ rotation are respectively established. Then, according to the linear decomposition models, the fixed-point target control algorithms of straight line motion and in-situ rotation are designed respectively. Finally, a simulation example is conducted to illustrate the effectiveness of the proposed design algorithms.
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