Speed control of differentially driven wheeled mobile robots - Tracking and synchronization

被引：0
|
作者：
Huang, L [1 ]
Yu, W [1 ]
Jhajharia, SK [1 ]
机构：
[1] Singapore Polytech, Sch Elect & Elect Engn, Singapore 139651, Singapore
来源：
IMTC/O3: PROCEEDINGS OF THE 20TH IEEE INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE, VOLS 1 AND 2 | 2003年
关键词：
mobile robot; speed control;
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：
A speed control scheme for a differentially driven wheeled mobile robot is presented in this paper. In the scheme, an compensator for the angular speed is combined with the independent speed control loops of the robot. The controller achieves tracking and synchronization of the speeds of the driving wheels of the robot The effectiveness of the proposed scheme is verified by the simulation and experimental results.
引用
收藏
页码：1407 / 1412
页数：6
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