Journal of Robotics, Networking and Artificial Life

Volume 8, Issue 4, March 2022, Pages 284 - 288

Tracking Control of Mobile Robots based on Rhombic Input Constraints

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: ymjia@buaa.edu.cn
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.211108.011How to use a DOI?
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 Atlantis Press International B.V.
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/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
8 - 4
Pages
284 - 288
Publication Date
2021/12/29
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
https://doi.org/10.2991/jrnal.k.211108.011How to use a DOI?
Copyright
© 2021 The Authors. Published by Atlantis Press International B.V.
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/).

Cite this article

TY  - JOUR
AU  - Kai Gong
AU  - Yingmin Jia
AU  - Yuxin Jia
PY  - 2021
DA  - 2021/12/29
TI  - Tracking Control of Mobile Robots based on Rhombic Input Constraints
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 284
EP  - 288
VL  - 8
IS  - 4
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.k.211108.011
DO  - https://doi.org/10.2991/jrnal.k.211108.011
ID  - Gong2021
ER  -