TY - JOUR
T1 - Trajectory tracking control of differential wheeled mobile robots based on rhombic input constraints
AU - Gong, Kai
AU - Jia, Yingmin
AU - Jia, Yuxin
N1 - Publisher Copyright:
© The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), Jan. 21-24, Japan.
PY - 2021
Y1 - 2021
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 independent of each other. Through the trajectory tracking simulation of the 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 independent of each other. Through the trajectory tracking simulation of the 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/85108805815
U2 - 10.5954/icarob.2021.os6-4
DO - 10.5954/icarob.2021.os6-4
M3 - 会议文章
AN - SCOPUS:85108805815
SN - 2435-9157
VL - 2021
SP - 368
EP - 372
JO - Proceedings of International Conference on Artificial Life and Robotics
JF - Proceedings of International Conference on Artificial Life and Robotics
T2 - 26th International Conference on Artificial Life and Robotics, ICAROB 2021
Y2 - 21 January 2021 through 24 January 2021
ER -