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 independent of each other. Through the trajectory tracking simulation of the 8-shaped curve, a good control performance is obtained.
| Original language | English |
|---|---|
| Pages (from-to) | 368-372 |
| Number of pages | 5 |
| Journal | Proceedings of International Conference on Artificial Life and Robotics |
| Volume | 2021 |
| DOIs | |
| State | Published - 2021 |
| Event | 26th International Conference on Artificial Life and Robotics, ICAROB 2021 - Beppu, Oita, Japan Duration: 21 Jan 2021 → 24 Jan 2021 |
Keywords
- Differential wheeled mobile robots
- Rhombic input constraints
- Trajectory tracking
- Vector analysis
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