IFEG   20353
INSTITUTO DE FISICA ENRIQUE GAVIOLA
Unidad Ejecutora - UE
artículos
Título:
Autonomous and Teleoperation Control of a Mobile Robot
Autor/es:
R. CARELLI, G. FORTE, L. CANALI, V. MUT, G. ARAGUÁS, E. DESTÉFANIS
Revista:
MECHATRONICS
Referencias:
Año: 2008 vol. 18 p. 187 - 194
ISSN:
0957-4158
Resumen:
Abstract-- The present work proposes an autonomous tracking control system and a control structure to combine autonomous and teleoperation commands to a bicycle-type mobile robot. This combined operation renders great flexibility to the control system of the mobile robot. For autonomous operation, a simple tracking controller that includes compensation of the robot dynamics is developed. This tracking control system is proved to be stable in the sense of asymptotically reaching the tracking objective. Teleoperation with visual access to the robot´s workspace is integrated via a joystick with the autonomous operation of the robot. Simulations and experimental results show the feasibility and performance of the proposed control system.