Trajectory Tracking Control of Real Position for Wheeled Mobile Robot. 1st Resport. Characteristics of Trajectory Tracking Control in the Case of Modifying Estimated Directional Angle by Laser Beacon Measuring System.
Motohiko Mizutani, Yasunori Ohfuchi, Kazunori Tsushima · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1995
The purpose of this work is to realize highly accurate trajectory tracking control of a real position for a wheeled mobile robot (WMR). The authors have been conducting a dynamical study of a theory on trajectory tracking control based on kinematics for WMR. This tracking theory has been proven in the estimated environment using an internal sensor (similar to an encoder). In this paper, in order to apply the aforementioned theory in a real environment, an extended theory of trajectory tracking control is proposed. All of the estimated parameters (directional angle, velocity, position) of WMR are modified at short sampling time using real position data measured by external sensors. We conducted experiments using a laser beacon measuring system as external sensors and found that this extended theory provides satisfactory results in terms of accuracy of trajectory tracking.