Abstract
A trajectory tracking controller for wheeled mobile robot (WMR) is presented in this paper. The approach is based on the dynamic model of a nonholonomic mobile robot. The non linear dynamic model is used to find the expression of the control actions which make the robot follow a desired trajectory. The methodology for controller design is based in Linear Algebra theory. Experimental results in a Pioneer 3DX mobile robot are presented and compared with other approach of the literature.
Highlights
For many years, the trajectory tracking problem in mobileThe paper is ordered as follows
Problem of trajectory tracking in wheeled mobile robot (WMR). This new approach This model allows that the linear and angular reference uses the dynamic model of WMR and allows perfect velocities velocities are considered as the input signals
C2 and C3 were implemented in the same PIONEER 3DX
Summary
A trajectory tracking controller for wheeled mobile robot (WMR) is presented in this paper. The approach is based on the dynamic model of a nonholonomic mobile robot. The non linear dynamic model is used to find the expression of the control actions which make the robot follow a desired trajectory. The methodology for controller design is based in Linear Algebra theory. Experimental results in a Pioneer 3DX mobile robot are presented and compared with other approach of the literature
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