Sliding mode control of a unicycle type differential-drive mobile robot following a path
In this thesis a control design for a unicycle type differential-drive mobile robot following a path will be developed. The control algorithm will be based on sliding mode technique and some simulations will be carried out to validate it. Finally, the simulation results will be shown using Pygame.
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2017 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/108389 |
| Acceso en línea: | https://hdl.handle.net/2117/108389 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile robots Robots mòbils Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | In this thesis a control design for a unicycle type differential-drive mobile robot following a path will be developed. The control algorithm will be based on sliding mode technique and some simulations will be carried out to validate it. Finally, the simulation results will be shown using Pygame. |
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