Abstract
Heavy following error induced by excessive turning in blind bend path- following control can cause a wheeled mobile robot to departures from the desired path. To prevent this problem a method for heading-following control of wheeled mobile robot in blind bends is presented. The heading showed by the front steering angle is used as the feedback heading of the controller. In simulation experiments, a PID controller with front steering angle feedback is tested. Compared with the regular control method in which the feedback is the actual heading of the robot. It can markedly improve the dynamic characteristics of the control system and the performance of heading-control-based blind bend path following.
| Original language | English |
|---|---|
| Pages (from-to) | 680-683 |
| Number of pages | 4 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 21 |
| Issue number | 6 |
| Publication status | Published - 2001 |
Keywords
- Autonomous land vehicle
- Heading-following
- Lateral control
- Wheeled mobile robot