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Interpolation Based Controller for Trajectory Tracking in Mobile Robots

Serrano, Mario Emanuel et al · Springer · 2017

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Author / responsible party
Serrano, Mario Emanuel et al
Publisher
Springer
Year
2017
ISSN
0921-0296
ISSN
0921-0296
Language
English

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In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers. Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina

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APA 7

Serrano, M. E. E. A. (2017). Interpolation Based Controller for Trajectory Tracking in Mobile Robots. http://hdl.handle.net/11336/69136

MLA

Serrano, Mario Emanuel et al. "Interpolation Based Controller for Trajectory Tracking in Mobile Robots." 2017. http://hdl.handle.net/11336/69136.

Chicago

Serrano, Mario Emanuel et al. 2017. "Interpolation Based Controller for Trajectory Tracking in Mobile Robots.". http://hdl.handle.net/11336/69136.

Harvard

Serrano, M. E. E. A. 2017, Interpolation Based Controller for Trajectory Tracking in Mobile Robots, Springer, available at: http://hdl.handle.net/11336/69136 [Accessed 7 Aug. 2026].

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Resource details

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Title
Interpolation Based Controller for Trajectory Tracking in Mobile Robots
Author / contributors
Serrano, Mario Emanuel et al
Publisher
Springer
Publication year
2017
ISSN
0921-0296
ISSN
0921-0296
Language
English

Subjects

Explore related resources through these subjects.

Interpolation; Mobile Robot; Non-Linear Multivariable Control; Tracking Control; https://purl.org/becyt/ford/2.2; https://purl.org/becyt/ford/2
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