Trajectory tracking control of a nonholonomic mobile robot with differential drive

Detalhes bibliográficos
Autor(a) principal: Sousa, Rigoberto Luis Silva
Data de Publicação: 2016
Outros Autores: Forte, Marcus Davi do Nascimento, 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/64709
Resumo: This paper presents the development and trajectory tracking control of a nonholonomic mobile robot with differential drive. The used control system is composed of two loops cascaded, with internal PID controlling the speed of the two wheels and an external loop controlling the robot position and orientation. The second one is a feedfoward kinematics controller which is tuned according to desired closed-loop characteristics specified by the user. The control strategies were embedded in a digital module based in a 32-bit ARM microcontroller. In order to evaluate the performance of the developed robot, trajectory tracking tests were carried out for different trajectories and initial conditions. Preliminary experimental results are presented for reference trajectories without obstacles.
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spelling Trajectory tracking control of a nonholonomic mobile robot with differential driveTrajectory tracking control of a nonholonomic mobile robot with differential driveMobile robotsRobot kinematicsWheelsTrajectoryKinematicsMathematical modelThis paper presents the development and trajectory tracking control of a nonholonomic mobile robot with differential drive. The used control system is composed of two loops cascaded, with internal PID controlling the speed of the two wheels and an external loop controlling the robot position and orientation. The second one is a feedfoward kinematics controller which is tuned according to desired closed-loop characteristics specified by the user. The control strategies were embedded in a digital module based in a 32-bit ARM microcontroller. In order to evaluate the performance of the developed robot, trajectory tracking tests were carried out for different trajectories and initial conditions. Preliminary experimental results are presented for reference trajectories without obstacles.Este artículo presenta la implementación práctica de un sistema de control para seguimiento de trayectorias de un robot móvil no holonómico de tracción diferencial. El sistema de control está basado en dos lazos, un lazo interno para el control de velocidad de las ruedas y un lazo externo para el control de la posición y orientación del robot. El lazo interno es controlado a través de dos controladores PID y dos encoders, por otro lado el lazo externo a través de un controlador cinemático prealimentado. El sistema de control es proyectado de acuerdo a especificaciones de lazo cerrado definidos por el usuario. La estrategia de control fue embarcada en microcontrolador ARM 32-bits con el fin de evaluar el desempeño del robot real. Fueron realizados varios experimentos de seguimiento de trayectorias con condiciones iniciales diferentes. Todos los experimentos fueron realizados considerando que no existen obstáculos.IEEE - All rights reserved - https://ieeexplore.ieee.org/document/75853562022-03-30T18:56:22Z2022-03-30T18:56:22Z2016info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObjectapplication/pdfSOUSA, Rigoberto Luis Silva; FORTE, Marcus Davi do Nascimento; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Trajectory tracking control of a nonholonomic mobile robot with differential drive. In: IEEE BIENNIAL CONGRESS OF ARGENTINA (ARGENCON), 3th., 15-17 June 2016, Buenos Aires, Argentina. Proceedings[…], US: IEEE, 2016. DOI: 10.1109/ARGENCON.2016.7585356DOI: 10.1109/ARGENCON.2016.7585356http://www.repositorio.ufc.br/handle/riufc/64709Sousa, Rigoberto Luis SilvaForte, Marcus Davi do NascimentoNogueira, Fabrício GonzalezTorrico, Bismark Claureporreponame:Repositório Institucional da Universidade Federal do Ceará (UFC)instname:Universidade Federal do Ceará (UFC)instacron:UFCinfo:eu-repo/semantics/openAccess2022-03-30T18:56:23Zoai:repositorio.ufc.br:riufc/64709Repositório InstitucionalPUBhttp://www.repositorio.ufc.br/ri-oai/requestbu@ufc.br || repositorio@ufc.bropendoar:2024-09-11T18:25:25.806561Repositório Institucional da Universidade Federal do Ceará (UFC) - Universidade Federal do Ceará (UFC)false
dc.title.none.fl_str_mv Trajectory tracking control of a nonholonomic mobile robot with differential drive
Trajectory tracking control of a nonholonomic mobile robot with differential drive
title Trajectory tracking control of a nonholonomic mobile robot with differential drive
spellingShingle Trajectory tracking control of a nonholonomic mobile robot with differential drive
Sousa, Rigoberto Luis Silva
Mobile robots
Robot kinematics
Wheels
Trajectory
Kinematics
Mathematical model
title_short Trajectory tracking control of a nonholonomic mobile robot with differential drive
title_full Trajectory tracking control of a nonholonomic mobile robot with differential drive
title_fullStr Trajectory tracking control of a nonholonomic mobile robot with differential drive
title_full_unstemmed Trajectory tracking control of a nonholonomic mobile robot with differential drive
title_sort Trajectory tracking control of a nonholonomic mobile robot with differential drive
author Sousa, Rigoberto Luis Silva
author_facet Sousa, Rigoberto Luis Silva
Forte, Marcus Davi do Nascimento
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
author_role author
author2 Forte, Marcus Davi do Nascimento
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
author2_role author
author
author
dc.contributor.author.fl_str_mv Sousa, Rigoberto Luis Silva
Forte, Marcus Davi do Nascimento
Nogueira, Fabrício Gonzalez
Torrico, Bismark Claure
dc.subject.por.fl_str_mv Mobile robots
Robot kinematics
Wheels
Trajectory
Kinematics
Mathematical model
topic Mobile robots
Robot kinematics
Wheels
Trajectory
Kinematics
Mathematical model
description This paper presents the development and trajectory tracking control of a nonholonomic mobile robot with differential drive. The used control system is composed of two loops cascaded, with internal PID controlling the speed of the two wheels and an external loop controlling the robot position and orientation. The second one is a feedfoward kinematics controller which is tuned according to desired closed-loop characteristics specified by the user. The control strategies were embedded in a digital module based in a 32-bit ARM microcontroller. In order to evaluate the performance of the developed robot, trajectory tracking tests were carried out for different trajectories and initial conditions. Preliminary experimental results are presented for reference trajectories without obstacles.
publishDate 2016
dc.date.none.fl_str_mv 2016
2022-03-30T18:56:22Z
2022-03-30T18:56:22Z
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 SOUSA, Rigoberto Luis Silva; FORTE, Marcus Davi do Nascimento; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Trajectory tracking control of a nonholonomic mobile robot with differential drive. In: IEEE BIENNIAL CONGRESS OF ARGENTINA (ARGENCON), 3th., 15-17 June 2016, Buenos Aires, Argentina. Proceedings[…], US: IEEE, 2016. DOI: 10.1109/ARGENCON.2016.7585356
DOI: 10.1109/ARGENCON.2016.7585356
http://www.repositorio.ufc.br/handle/riufc/64709
identifier_str_mv SOUSA, Rigoberto Luis Silva; FORTE, Marcus Davi do Nascimento; NOGUEIRA, Fabrício Gonzalez; TORRICO, Bismark Claure. Trajectory tracking control of a nonholonomic mobile robot with differential drive. In: IEEE BIENNIAL CONGRESS OF ARGENTINA (ARGENCON), 3th., 15-17 June 2016, Buenos Aires, Argentina. Proceedings[…], US: IEEE, 2016. DOI: 10.1109/ARGENCON.2016.7585356
DOI: 10.1109/ARGENCON.2016.7585356
url http://www.repositorio.ufc.br/handle/riufc/64709
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 IEEE - All rights reserved - https://ieeexplore.ieee.org/document/7585356
publisher.none.fl_str_mv IEEE - All rights reserved - https://ieeexplore.ieee.org/document/7585356
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
_version_ 1813028797621993472

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