Modeling, simulation and control of a differential steering type mobile robot

被引：0
|
作者：
Angel, L. [1 ]
Hernandez, C. [1 ]
Diaz-Quintero, C. [1 ]
机构：
[1] Univ Pontificia Bolivariana, Bucaramanga, Colombia
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
Co-simulation; MATLAB; MSC ADAMS; mathematical model; spatial position; joint position; kinematic model; differential steering;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the modeling and control of a differential steering type mobile robot by using ADAMS/MATLAB Co-Simulation with the aim of establish the robot's movement from a start point to an end point. The simulation model of the mobile robot is obtained by using MSC ADAMS software, and a PD control with velocity feedback is implemented with MATLAB/Simulink software. The simulation model of the differential steering type mobile robot was validated by testing out the robot's movement through different point-to-point trajectories as well as multi-point trajectories and analyzing the position error obtained in each trajectory. Robustness tests were performed to verify the performance acceptable of the implemented controller.
引用
收藏
页码：8757 / 8762
页数：6
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