Hostname: page-component-76fb5796d-skm99 Total loading time: 0 Render date: 2024-04-27T08:03:42.761Z Has data issue: false hasContentIssue false
  • English
  • Français

A fast tracking error control method for an autonomous mobile robot

Published online by Cambridge University Press:  09 March 2009

S.S. Lee  and
J.H. Williams
S.S. Lee
Affiliation:
Automation and Robotics CentreSchool of ElectricalElectronic and Systems EngineeringUniversity of Wales College of Cardiff, East Building, Newport Road, Cardiff, CF21XH (U.K.)
J.H. Williams
Affiliation:
Automation and Robotics CentreSchool of ElectricalElectronic and Systems EngineeringUniversity of Wales College of Cardiff, East Building, Newport Road, Cardiff, CF21XH (U.K.)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several simulation results are presented using this method. The fast tracking error control method proposed is mainly hardware-independent and Hence can be applied to various kinds of mobile robots which have two differentially driven wheels. The method was implemented on an experimental vehicle, WCVS, The experimentation shows a performance suitable for practical applications.

Keywords

Autonomous mobile robotTracking error controlWheel Jacobian
Type
Research Article
Information
Robotica , Volume 11 , Issue 3 , May 1993 , pp. 209 - 215
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kanayama, Y. et al. , “A Locomotion Control Method for Autonomous Vehicles” Proc. IEEE Int. Conf. on Robotics and Automation 3, 1315–1317 (1988).Google Scholar
2.Nelson, W.L. and Cox, I.J., “Local Path Control for an Autonomous Vehicle” Proc. IEEE Int. Conf. on Robotics and Automation 3, 1504–1510 (1988).Google Scholar
3.Kimura, Y. et al. , “A Stable Tracking Control Method for an Autonomous Mobile Robot” Proc. IEEE Int. Conf. on Robotics and Automation 1, 384–389 (1990).Google Scholar
4.Lee, S. S., “A Study of Local Path Controller for Autonomous Vehicle Systems” PhD Thesis (University of Wales, Cardiff, U.K., 1992).Google Scholar
5.Craig, J.J., Introduction to Robotics Second Edition (Addison-Wesley, Wokingham, UK, 1989).Google Scholar