標題: | Spatial trajectory tracking control of omni-directional wheeled robot using optical flow sensors |
作者: | Hu, Jwu-Sheng Cheng, Jung-Hung Chang, Yung-Jung 電控工程研究所 Institute of Electrical and Control Engineering |
公開日期: | 2007 |
摘要: | This study presents a method of controlling a mobile robot of omni-directional wheels. Two optical flow sensors are installed on the chassis of the robot to obtain motion information relative to the world coordinate. Due to wheel slip, the kinematic relation from the wheel speed to the robot speed no longer holds. An extremum seeking algorithm is proposed to cope with the unknown friction when the robot tries to follow a prescribed trajectory. Further, a spatial tracking algorithm is proposed to modify the velocity commands to achieve a better performance in trajectory following. Lastly, a simple obstacle avoidance algorithm is also proposed based on the optical flow sensor measurement. Experiments are conducted for various driving conditions including different road surfaces to show the effectiveness of the proposed methods. |
URI: | http://hdl.handle.net/11536/9944 |
ISBN: | 978-1-4244-0442-1 |
ISSN: | 1085-1992 |
期刊: | PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3 |
起始頁: | 863 |
結束頁: | 868 |
顯示於類別: | 會議論文 |