Abstract
In this paper the motion control of a pattern tracking nonholonomic mobile robot is presented. In many applications localization of the mobile robots is subjected, different from the existing studies, here a similar closed loop system has been developed, but instead of estimating local coordinates, control problem is constructed as keeping close to a pattern under predefined constraints. Since the dynamic equations of the model are nonlinear, feedback linearization have been applied to control the mobile robot. To implement the control algorithm Quanser's QBot and a portable computer connected to its head camera have been used.
Keywords
Mobile robot
Feedback linearization
Nonholonomic system
Linearization
Control theory (sociology)
Computer science
Robot control
Tracking (education)
Robot
Nonlinear system
Control engineering
Motion control
Computer vision
Artificial intelligence
Control (management)
Engineering
Subject Areas
Control and Dynamics of Mobile Robots
·Control and Systems Engineering ·Physical Sciences
Robotic Path Planning Algorithms
·Computer Vision and Pattern Recognition ·Physical Sciences
Robotic Locomotion and Control
·Biomedical Engineering ·Physical Sciences
Citations by Year
2015: 1
2019: 1
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