Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot
Abstract. The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These c...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2009 |
| País: | México |
| Institución: | Instituto Politécnico Nacional |
| Repositorio: | Repositorio Digital del IPN |
| OAI Identifier: | oai:www.repositoriodigital.ipn.mx:123456789/15499 |
| Acceso en línea: | http://www.repositoriodigital.ipn.mx/handle/123456789/15499 |
| Access Level: | acceso abierto |
| Palabra clave: | Keywords. Discrete-time systems, mobile robots, feedback linearization, real time systems. |
| Sumario: | Abstract. The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path-tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype. |
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