TY - GEN
T1 - A Path tracking controller design method for wheeled mobile robots
T2 - 6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022
AU - Pan, Jinwen
AU - Chen, Kai
AU - Li, Yurong
AU - Gao, Qing
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper introduces a method to obtain the proper control input by generating speed profile with small amount of calculation when moving wheeled mobile robot (WMR) in both simulation and real time in two dimensional (2D) space. The target is to obtain the optimal or sub-optimal time when moving the WMR from one point to the other point in 2D space with a pure straight line or a pure rotation on considering the constraints of physical limitations, speed limitations, acceleration limitations as well as the comfort parameters. By using different order of tracking differentiator (TD), proper reference speed profile is successfully generated for reference trajectory. With the proposed controller synthesis strategy, the proper control input is finally produced. The proposed method is applicable to WMR-like vehicles, including unicycle drive, differential drive, steering drive, car-like et al.
AB - This paper introduces a method to obtain the proper control input by generating speed profile with small amount of calculation when moving wheeled mobile robot (WMR) in both simulation and real time in two dimensional (2D) space. The target is to obtain the optimal or sub-optimal time when moving the WMR from one point to the other point in 2D space with a pure straight line or a pure rotation on considering the constraints of physical limitations, speed limitations, acceleration limitations as well as the comfort parameters. By using different order of tracking differentiator (TD), proper reference speed profile is successfully generated for reference trajectory. With the proposed controller synthesis strategy, the proper control input is finally produced. The proposed method is applicable to WMR-like vehicles, including unicycle drive, differential drive, steering drive, car-like et al.
KW - reference trajectory
KW - speed planner
KW - speed profile
KW - tracking differentiator
KW - wheeled mobile robot
UR - https://www.scopus.com/pages/publications/85144626178
U2 - 10.1109/CVCI56766.2022.9965137
DO - 10.1109/CVCI56766.2022.9965137
M3 - 会议稿件
AN - SCOPUS:85144626178
T3 - 2022 6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022
BT - 2022 6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 28 October 2022 through 30 October 2022
ER -