Tracking Control of Mobile Robots based on Rhombic Input Constraints

Kai Gong; Yingmin Jia; Yuxin Jia

doi:10.2991/jrnal.k.211108.011

Tracking Control of Mobile Robots based on Rhombic Input Constraints

Kai Gong
, Yingmin Jia^*
, Yuxin Jia

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Contribution to journal › Article › peer-review

Abstract

This paper focuses on the trajectory tracking control algorithm for Differential Wheeled Mobile Robots (DWMRs) based on rhombic input constraints. The kinematics and dynamics model of DWMRs are established, and vector analysis method is used to design the controller when the linear velocity and angular velocity of DWMRs were not mutually independently. Through the simulation of tracking 8-shaped curve, a good control performance is obtained.

Original language	English
Pages (from-to)	284-288
Number of pages	5
Journal	Journal of Robotics, Networking and Artificial Life
Volume	8
Issue number	4
DOIs	https://doi.org/10.2991/jrnal.k.211108.011
State	Published - Mar 2022

Keywords

Differential wheeled mobile robots
Rhombic input constraints
Trajectory tracking
Vector analysis

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10.2991/jrnal.k.211108.011

Cite this

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title = "Tracking Control of Mobile Robots based on Rhombic Input Constraints",

abstract = "This paper focuses on the trajectory tracking control algorithm for Differential Wheeled Mobile Robots (DWMRs) based on rhombic input constraints. The kinematics and dynamics model of DWMRs are established, and vector analysis method is used to design the controller when the linear velocity and angular velocity of DWMRs were not mutually independently. Through the simulation of tracking 8-shaped curve, a good control performance is obtained.",

keywords = "Differential wheeled mobile robots, Rhombic input constraints, Trajectory tracking, Vector analysis",

author = "Kai Gong and Yingmin Jia and Yuxin Jia",

note = "Publisher Copyright: {\textcopyright} 2021 The Authors.",

year = "2022",

month = mar,

doi = "10.2991/jrnal.k.211108.011",

language = "英语",

volume = "8",

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AU - Jia, Yingmin

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PY - 2022/3

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N2 - This paper focuses on the trajectory tracking control algorithm for Differential Wheeled Mobile Robots (DWMRs) based on rhombic input constraints. The kinematics and dynamics model of DWMRs are established, and vector analysis method is used to design the controller when the linear velocity and angular velocity of DWMRs were not mutually independently. Through the simulation of tracking 8-shaped curve, a good control performance is obtained.

AB - This paper focuses on the trajectory tracking control algorithm for Differential Wheeled Mobile Robots (DWMRs) based on rhombic input constraints. The kinematics and dynamics model of DWMRs are established, and vector analysis method is used to design the controller when the linear velocity and angular velocity of DWMRs were not mutually independently. Through the simulation of tracking 8-shaped curve, a good control performance is obtained.

KW - Differential wheeled mobile robots

KW - Rhombic input constraints

KW - Trajectory tracking

KW - Vector analysis

UR - https://www.scopus.com/pages/publications/85124774267

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M3 - 文章

AN - SCOPUS:85124774267

SN - 2405-9021

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JO - Journal of Robotics, Networking and Artificial Life

JF - Journal of Robotics, Networking and Artificial Life

IS - 4

ER -

Tracking Control of Mobile Robots based on Rhombic Input Constraints

Abstract

Keywords

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