Non-Autonomous Wheeled Mobile Robot Trajectory Tracking Control Based on the Navigation via WSN-Reference-Cited by-同舟云学术

Non-Autonomous Wheeled Mobile Robot Trajectory Tracking Control Based on the Navigation via WSN

Published:2012-01 Issue: Volume:457-458 Page:1089-1095
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Lu Da Yong¹,Luo Zhen Hua¹,Tian Jian Lu¹

Affiliation:

1. South China University of Technology

Abstract

Trajectory tracking control is a major control problem in the application of the wheeled mobile robots (WMRs). However, many of the WMRs are autonomous which are equipped with several kinds of sensor to detect the position and orientation by itself, such as ultrasonic, laser, infrared and visual. This paper studies the implementation for a distributed network feedback control system and the trajectory tracking control algorithm for a non-autonomous WMR. The control system consists of a wireless sensor network (WSN) and a monitoring base station for measurement and feedback, and a non-autonomous WMR as controlled plant. To cope with the distributed and asynchronous measurements and slow response of the feedback channel, the sectional error amplitude limited algorithm is studied and the results show the system can effectively track a reference trajectory.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.457-458.1089.pdf

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