A Time optimal path planning for trajectory tracking of wheeled mobile robots

• Autorzy: Vivekananthan R. , Karunamoorthy L.
• Języki publikacji: EN

Abstrakty

EN

Avariety of approaches for trajectory tracking control of wheeled mobile robots have been implemented. This paper presents a model for a time optimal motion control based on fuzzy logic algorithm for a three wheeled nonholonomic mobile robot with desired function. Simplified kinematic equations of a differentially driven robot are designed to follow the path with evaluated linear and angular velocities. Here, the proposed kinematic model is based on a simple geometric approach for getting the desired position and orientation. The speeds are varied depending on the variations in the path and on the posture of the robot. The robot is subjected to move in a constrained workspace. The control architecture was developed based on fuzzy logic algorithm to obtain time optimal motion control of robot trajectory tracking. The kinematic model was done on Matlab software environment and profound impact on the ability of the nonholonomic mobile robot to track the path was evaluated.

Słowa kluczowe

EN

wheeled robot; time optimal; trajectory tracking; motion control; fuzzy logic algorithm; Matlab environment

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2011
• Tom: Vol. 5, No. 2
• Strony: 35--41
• Opis fizyczny: Bibliogr. 15 poz., rys.

Twórcy

autor

Vivekananthan R.

autor

Karunamoorthy L.

• Assistant Professor, Government College of Engineering, Salem, India,

Bibliografia

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