移动机器人的导航控制

2015 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE) Pub Date : 2015-11-24 DOI:10.1109/ICMEAE.2015.51

A. P. Merino, María Aurora Diozcora Vargas Treviño, S. Vergara Limon, María Aurora Diozcora Vargas Treviño

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引用次数: 3

摘要

本文建立了Ackerman移动机器人的运动学和动力学模型，以实现其轨迹跟踪控制系统，并将其应用于HUMMER H2移动机器人的实验平台。为此，将预测控制应用于车辆的动态模型，以模拟其真实的植物响应，并考虑环境中的力。另一方面，利用运动学模型获取移动机器人在平面内的位置和方向，结合传感器的射频信息，利用ARDUINO、LABVIEW和XBEE平台进行数据采集和处理。我们给出了使用的实验平台。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Navigation control of a mobile robot

Kinematic and dynamic models of a mobile robot type Ackerman are developed in this paper, with the aim of implement a control system of trajectory tracking and we applied to the experimental platform of the HUMMER H2 mobile robot. For this purpose the predictive control is applied to dynamic model of the vehicle, to simulate its real plant response, considering the forces in the environment. On the other hand the kinematic model is used for obtain the location and direction of the mobile robot in a plane, considering the sensors information via radio frequency (RF) using ARDUINO, LABVIEW and XBEE platforms for data acquisition and processing. We present the experimental platform used.

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2015 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)

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