대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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- Pages.261-262
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- 2007
모델 알고리즘 제어를 이용한 이동 로봇의 경로 추적 제어
Path Following Control For Mobile Robots Using Model Algorithm Control
- Zhang, Yuanliang (Division of Electronics and Information Engineering, Chonbuk National University) ;
- Chong, Kil-To (Division of Electronics and Information Engineering, Chonbuk National University)
- 발행 : 2007.10.26
초록
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.
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