Many approaches for trajectory tracking of nonholonomic mobile robots have been proposed.Most of them are designed based on the control of robot dynamics or adopt the complicated kinematics control,which are not suitable for real-time engineering applications without powerful computing devices.A real-time tracking controller based on PD controller is presented for nonholonomic mobile robot.This algorithm holds a time cost of only 1～2 ms for each control loop in a 40 MHz embedded controller.A nonlinear-PID b...
【更新日期】
2013-04-25
【分类号】
TP242
【正文快照】
1 IntroductionBecause of the complexity brought by nonholo-nomic constraints,the control of mobile robots has at-tracted considerable attention in recent years.Severalcontrollers were proposed for mobile robots with non-holonomic constraints,and posture s
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