Authors
Kai Gong, Yingmin Jia*, Yuxin Jia
The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing 100191, China
*Corresponding author. Email: [email protected]
Corresponding Author
Yingmin Jia
Received 26 November 2020, Accepted 15 September 2021, Available Online 29 December 2021.
DOI
https://doi.org/10.2991/jrnal.k.211108.011
Keywords
Differential wheeled mobile robots; rhombic input constraints; trajectory tracking; vector analysis
Abstract
This paper focuses on the trajectory tracking control algorithm for Differential Wheeled Mobile Robots (DWMRs) based on rhombic input constraints. The kinematics and dynamics model of DWMRs are established, and vector analysis method is used to design the controller when the linear velocity and angular velocity of DWMRs were not mutually independently. Through the simulation of tracking 8-shaped curve, a good control performance is obtained.
Copyright
© 2021 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).


Download article (PDF)