Tracking control of a mobile robot using linear interpolation

Abstract:

This work presents a novel methodology to design a control algorithm that allows a mobile robot to follow a pre-established trajectory. A typical non-linear multivariable system - a mobile robot - is analyzed, where the control objective is the trajectory tracking. The methodology is simple and can be applied to another control system. Simulation results are shown and discussed and the experimental results demonstrate the good performance of the proposed methodology.

Año de publicación:

2007

Keywords:

• mobile robot
• models
• Trajectory control
• tracking
• Control system design

Fuente:

scopus