Interpolation Based Controller for Trajectory Tracking in Mobile Robots
Archivos
Fecha
2017-06-01
Autores
Serrano, M.E.
Godoy, S.A.
Quintero, L.
Scaglia, G.J.E.
Título de la revista
ISSN de la revista
Título del volumen
Editor
SPRINGER
Resumen
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. © 2016, Springer Science+Business Media Dordrecht.