TY - GEN
T1 - Control law design of mobile robot trajectory tracking and development of simulation platform
AU - Yang, Yi
AU - Fu, Mengyin
AU - Sun, Changsheng
AU - Wang, Meiling
AU - Zhao, Cheng
PY - 2007
Y1 - 2007
N2 - Autonomous steering control of Wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.
AB - Autonomous steering control of Wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.
KW - Co-simulation platform
KW - Dynamic analysis
KW - Fuzzy control
KW - Mobile robot
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=37749006183&partnerID=8YFLogxK
U2 - 10.1109/CHICC.2006.4347355
DO - 10.1109/CHICC.2006.4347355
M3 - Conference contribution
AN - SCOPUS:37749006183
SN - 7900719229
SN - 9787900719225
T3 - Proceedings of the 26th Chinese Control Conference, CCC 2007
SP - 198
EP - 202
BT - Proceedings of the 26th Chinese Control Conference, CCC 2007
T2 - 26th Chinese Control Conference, CCC 2007
Y2 - 26 July 2007 through 31 July 2007
ER -