Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control

doi:10.1139/tcsme-2019-0083

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	Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control
	X. F. Han,M. D. Ge,J. C. Cui,H. Wang and W. Zhuang
刊名	Transactions of the Canadian Society for Mechanical Engineering
	2020
卷号	44 期号:2 页码:228-233
ISSN号	0315-8977
DOI	10.1139/tcsme-2019-0083
英文摘要	Trajectory tracking is a problem of emphasis for the mobile robot. In this study, a coordinate transformation method was used to build a kinematic model of the wheeled mobile robot. A traditional proportional-integral-derivative control method was researched and improved by combining it with a neural network. A neural network proportional-integral-derivative trajectory tracking control method was thus designed, and a simulation experiment was performed using Simulink. The results show that in circular trajectory tracking control, the maximum errors of the X axis, Y axis, and theta were approximately 2.1 m, 2.3 m, and 0.4 rad, respectively, and that the system remained stable after running for 10 s. In straight-line trajectory tracking control, the maximum errors of the X axis, Y axis, and theta were approximately -0.8 m, 1.3 m, and 0.3 rad, respectively, and the system remained stable after running for 8 s. The error was relatively small, and the effect of trajectory tracking control was good. The studied method had good performance in terms of wheeled mobile robot trajectory tracking control and is worthy of further promotion and application.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/64702]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	X. F. Han,M. D. Ge,J. C. Cui,H. Wang and W. Zhuang. Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control[J]. Transactions of the Canadian Society for Mechanical Engineering,2020,44(2):228-233.
APA	X. F. Han,M. D. Ge,J. C. Cui,H. Wang and W. Zhuang.(2020).Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control.Transactions of the Canadian Society for Mechanical Engineering,44(2),228-233.
MLA	X. F. Han,M. D. Ge,J. C. Cui,H. Wang and W. Zhuang."Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control".Transactions of the Canadian Society for Mechanical Engineering 44.2(2020):228-233.