Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control

Detalhes bibliográficos
Autor(a) principal: Forte, Marcus Davi do Nascimento
Data de Publicação: 2018
Outros Autores: Correia, Wilkley Bezerra, Nogueira, Fabrício Gonzalez, Torrico, Bismark Claure
Tipo de documento: Artigo de conferência
Idioma: por
Título da fonte: Repositório Institucional da Universidade Federal do Ceará (UFC)
Texto Completo: http://www.repositorio.ufc.br/handle/riufc/65108
Resumo: This paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The use of an Inertial Measuring Unit (IMU) allows for a precise posture feedback by using a Kalman Filter on the output of the sensors. For such purpose, a Sensor Fusion technique is also needed in order to combine multiple sensor output so that physical limitations of each sensor may be compensated.
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spelling Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear controlReference tracking of a nonholomic mobile robot using sensor fusion techniques and linear controlSensor fusionMobile robotsInertial measurement unitsLinear control systemsRobot kinematicsThis paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The use of an Inertial Measuring Unit (IMU) allows for a precise posture feedback by using a Kalman Filter on the output of the sensors. For such purpose, a Sensor Fusion technique is also needed in order to combine multiple sensor output so that physical limitations of each sensor may be compensated.IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved2022-04-18T13:44:50Z2022-04-18T13:44:50Z2018info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObjectapplication/pdfFORTE, Marcus Davi do Nascimento; CORREIA, Wilkley Bezerra; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control. IFAC-PapersOnLine, v.51-4 p. 364–369, 2018. DOI: 10.1016/j.ifacol.2018.06.0922405-8963DOI: 10.1016/j.ifacol.2018.06.092http://www.repositorio.ufc.br/handle/riufc/65108Forte, Marcus Davi do NascimentoCorreia, Wilkley BezerraNogueira, Fabrício GonzalezTorrico, Bismark Claureinfo:eu-repo/semantics/openAccessporreponame:Repositório Institucional da Universidade Federal do Ceará (UFC)instname:Universidade Federal do Ceará (UFC)instacron:UFC2023-12-06T17:11:51Zoai:repositorio.ufc.br:riufc/65108Repositório InstitucionalPUBhttp://www.repositorio.ufc.br/ri-oai/requestbu@ufc.br || repositorio@ufc.bropendoar:2024-09-11T18:51:53.687876Repositório Institucional da Universidade Federal do Ceará (UFC) - Universidade Federal do Ceará (UFC)false
dc.title.none.fl_str_mv Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
title Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
spellingShingle Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
Forte, Marcus Davi do Nascimento
Sensor fusion
Mobile robots
Inertial measurement units
Linear control systems
Robot kinematics
title_short Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
title_full Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
title_fullStr Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
title_full_unstemmed Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
title_sort Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control
author Forte, Marcus Davi do Nascimento
author_facet Forte, Marcus Davi do Nascimento
Correia, Wilkley Bezerra
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
author_role author
author2 Correia, Wilkley Bezerra
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
author2_role author
author
author
dc.contributor.author.fl_str_mv Forte, Marcus Davi do Nascimento
Correia, Wilkley Bezerra
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
dc.subject.por.fl_str_mv Sensor fusion
Mobile robots
Inertial measurement units
Linear control systems
Robot kinematics
topic Sensor fusion
Mobile robots
Inertial measurement units
Linear control systems
Robot kinematics
description This paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The use of an Inertial Measuring Unit (IMU) allows for a precise posture feedback by using a Kalman Filter on the output of the sensors. For such purpose, a Sensor Fusion technique is also needed in order to combine multiple sensor output so that physical limitations of each sensor may be compensated.
publishDate 2018
dc.date.none.fl_str_mv 2018
2022-04-18T13:44:50Z
2022-04-18T13:44:50Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/conferenceObject
format conferenceObject
status_str publishedVersion
dc.identifier.uri.fl_str_mv FORTE, Marcus Davi do Nascimento; CORREIA, Wilkley Bezerra; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control. IFAC-PapersOnLine, v.51-4 p. 364–369, 2018. DOI: 10.1016/j.ifacol.2018.06.092
2405-8963
DOI: 10.1016/j.ifacol.2018.06.092
http://www.repositorio.ufc.br/handle/riufc/65108
identifier_str_mv FORTE, Marcus Davi do Nascimento; CORREIA, Wilkley Bezerra; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Reference tracking of a nonholomic mobile robot using sensor fusion techniques and linear control. IFAC-PapersOnLine, v.51-4 p. 364–369, 2018. DOI: 10.1016/j.ifacol.2018.06.092
2405-8963
DOI: 10.1016/j.ifacol.2018.06.092
url http://www.repositorio.ufc.br/handle/riufc/65108
dc.language.iso.fl_str_mv por
language por
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved
publisher.none.fl_str_mv IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved
dc.source.none.fl_str_mv reponame:Repositório Institucional da Universidade Federal do Ceará (UFC)
instname:Universidade Federal do Ceará (UFC)
instacron:UFC
instname_str Universidade Federal do Ceará (UFC)
instacron_str UFC
institution UFC
reponame_str Repositório Institucional da Universidade Federal do Ceará (UFC)
collection Repositório Institucional da Universidade Federal do Ceará (UFC)
repository.name.fl_str_mv Repositório Institucional da Universidade Federal do Ceará (UFC) - Universidade Federal do Ceará (UFC)
repository.mail.fl_str_mv bu@ufc.br || repositorio@ufc.br
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