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Conference paper
Experimental Comparison of Trajectory Tracking Algorithms for Nonholonomic Mobile Robots
5th Annual Conference of the IEEE Industrial Electronics Society, pp.2229-2234, 2009
ABSTRACT:
This paper presents an experimental overview of common trajectory tracking methods for nonholonomic mobile robots: linear control, nonlinear control and model predictive control. All methods are compared experimentally on a two-wheel mobile robot with differential drive. The goal was to determine which control method is the best with respect to robustness and low trajectory tracking error. Thereby, a special emphasis is given on a fast real-time trajectory tracking and behavior in conditions near robot velocity and acceleration limits.
BibTeX entry:
@inproceedings \{Brezak2009_429,
author = \{Brezak, M. AND Petrovi\'{c}, I. AND Peri\'{c}, N.},
title = \{Experimental Comparison of Trajectory Tracking Algorithms for Nonholonomic Mobile Robots},
booktitle = {5th Annual Conference of the IEEE Industrial Electronics Society},
pages = \{2229-2234},
year = \{2009}
}

 

 

 

 

 

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