Interpolation Based Controller for Trajectory Tracking in Mobile Robots

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dc.citation.journalTitleJournal Of Intelligent And Robotic Systems: Theory And Applicationseng
dc.contributor.authorSerrano, M.E.
dc.contributor.authorGodoy, S.A.
dc.contributor.authorQuintero, L.
dc.contributor.authorScaglia, G.J.E.
dc.contributor.departmentUniversidad EAFIT. Escuela de Cienciasspa
dc.contributor.researchgroupModelado Matemáticospa
dc.date.accessioned2021-04-12T14:07:12Z
dc.date.available2021-04-12T14:07:12Z
dc.date.issued2017-06-01
dc.description.abstractIn 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.eng
dc.identifierhttps://eafit.fundanetsuite.com/Publicaciones/ProdCientif/PublicacionFrw.aspx?id=4972
dc.identifier.doi10.1007/s10846-016-0422-4
dc.identifier.issn09210296
dc.identifier.issn15730409
dc.identifier.otherWOS;000400197800017
dc.identifier.otherSCOPUS;2-s2.0-84990898365
dc.identifier.urihttp://hdl.handle.net/10784/27771
dc.language.isoengeng
dc.publisherSPRINGER
dc.relation.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84990898365&doi=10.1007%2fs10846-016-0422-4&partnerID=40&md5=d19d56233655fced55a6363719c6d728
dc.rightshttps://v2.sherpa.ac.uk/id/publication/issn/0921-0296
dc.sourceJournal Of Intelligent And Robotic Systems: Theory And Applications
dc.subject.keywordInterpolationeng
dc.subject.keywordMobile robotseng
dc.subject.keywordMultivariable control systemseng
dc.subject.keywordRobotseng
dc.subject.keywordTrajectorieseng
dc.subject.keywordComparative studieseng
dc.subject.keywordControl performanceeng
dc.subject.keywordMonte Carlo experimentseng
dc.subject.keywordNon lineareng
dc.subject.keywordTracking controlseng
dc.subject.keywordTrajectory trackingeng
dc.subject.keywordTrigonometric functionseng
dc.subject.keywordWheeled mobile roboteng
dc.subject.keywordControllerseng
dc.titleInterpolation Based Controller for Trajectory Tracking in Mobile Robotseng
dc.typearticleeng
dc.typeinfo:eu-repo/semantics/articleeng
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typepublishedVersioneng
dc.type.localArtículospa

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