Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Path Following Control For Mobile Robots Using Model Algorithm Control

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  • Zhang, Yuanliang (Division of Electronics and Information Engineering, Chonbuk National University) ;
  • Chong, Kil-To (Division of Electronics and Information Engineering, Chonbuk National University)
  • 장원량 (전북대학교 전자정보공학부) ;
  • 정길도 (전북대학교 전자정보공학부)
  • Published : 2007.10.26
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Abstract

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steeredwheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is controlled to track several different reference paths. It is shown that the control strategy is feasible.

Keywords