INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
artículos
Título:
Numerical methods based controller design for mobile robots
Autor/es:
GUSTAVO SCAGLIA; OLGA QUINTERO MONTOYA; VICENTE MUT; DI SCIASCIO FERNANDO
Revista:
IFAC Proceedings Volumes
Editorial:
ELSEVIER
Referencias:
Año: 2008 vol. 41 p. 4820 - 4827
ISSN:
1474-6670
Resumen:
This paper presents the design of four controllers for a mobile robot such that the system may follow a pre-established trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers.
