Controlling A Mobile Robot Along Planned Trajectories
- Authors
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Mircea Nitulescu
University of Craiova Faculty of Automation, Computers and Electronics, Department of Automation and Mechatronics
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- Abstract
- The previous work presents and analyses some results in path tracking control on complex plane trajectories for a differential wheeled mobile robot. For the same model of the robot, the control uses alternatively two different algorithms. The first one is a bang-bang algorithm and the second is a classical solution in path tracking control. If the path given by the global path planner is a complex trajectory concerning straight lines, circular arcs, quick turning motion or lane change motion, finally the bang-bang algorithm offers better results in accurate and time execution. The results confirm the capability of this tracking method to be practically efficient for general path tracking of a wheeled differential mobile robot.
- References
- Downloads
- Published
- 2005-06-30
- Issue
- Vol. 7 No. 2 (2005)
- Section
- Articles