差动驱动移动机器人的多目标点镇定控制

2023 15th International Conference on Computer and Automation Engineering (ICCAE) Pub Date : 2023-03-03 DOI:10.1109/ICCAE56788.2023.10111290

Arystan Amangeldi, Assem Dospanova, S. Kusdavletov

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引用次数: 0

摘要

研究了具有多目标点稳定问题的差动驱动移动机器人的控制方案设计。基于运动学模型在线计算控制律，并部署到嵌入式硬件平台上。测距法用于机器人的基于运动的定位。在硬件在环实验装置上验证了所提出的设计。

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Multi-Goal Point Stabilization Control for Differential Drive Mobile Robot with Odometry

This paper demonstrates the design of the control scheme for the differential drive mobile robot with multiple goals point stabilization problem. The control law is computed online based on a kinematic model and deployed to an embedded hardware platform. Odometry is used for motion-based localization of the robot. The proposed design is verified on a hardware-in-the-loop experimental setup.

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2023 15th International Conference on Computer and Automation Engineering (ICCAE)

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