Numerical methods based controller design for mobile robots

SCAGLIA GUSTAVO; QUINTERO OLGA, L; MUT VICENTE; DI SCIASCIO FERNANDO

Seoul, Korea

Congreso; IFAC world congress 2008; 2008

The International Federation of Automatic Control IFAC

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.