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Construction of a WMR for Trajectory Tracking Control: Experimental Results

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-lev...

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Autores principales: Silva-Ortigoza, R., Márquez-Sánchez, C., Marcelino-Aranda, M., Marciano-Melchor, M., Silva-Ortigoza, G., Bautista-Quintero, R., Ramos-Silvestre, E. R., Rivera-Díaz, J. C., Muñoz-Carrillo, D.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi Publishing Corporation 2013
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3749612/
https://www.ncbi.nlm.nih.gov/pubmed/23997679
http://dx.doi.org/10.1155/2013/723645
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author Silva-Ortigoza, R.
Márquez-Sánchez, C.
Marcelino-Aranda, M.
Marciano-Melchor, M.
Silva-Ortigoza, G.
Bautista-Quintero, R.
Ramos-Silvestre, E. R.
Rivera-Díaz, J. C.
Muñoz-Carrillo, D.
author_facet Silva-Ortigoza, R.
Márquez-Sánchez, C.
Marcelino-Aranda, M.
Marciano-Melchor, M.
Silva-Ortigoza, G.
Bautista-Quintero, R.
Ramos-Silvestre, E. R.
Rivera-Díaz, J. C.
Muñoz-Carrillo, D.
author_sort Silva-Ortigoza, R.
collection PubMed
description This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.
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spelling pubmed-37496122013-09-01 Construction of a WMR for Trajectory Tracking Control: Experimental Results Silva-Ortigoza, R. Márquez-Sánchez, C. Marcelino-Aranda, M. Marciano-Melchor, M. Silva-Ortigoza, G. Bautista-Quintero, R. Ramos-Silvestre, E. R. Rivera-Díaz, J. C. Muñoz-Carrillo, D. ScientificWorldJournal Research Article This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software. Hindawi Publishing Corporation 2013-07-11 /pmc/articles/PMC3749612/ /pubmed/23997679 http://dx.doi.org/10.1155/2013/723645 Text en Copyright © 2013 R. Silva-Ortigoza et al. https://creativecommons.org/licenses/by/3.0/ This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
spellingShingle Research Article
Silva-Ortigoza, R.
Márquez-Sánchez, C.
Marcelino-Aranda, M.
Marciano-Melchor, M.
Silva-Ortigoza, G.
Bautista-Quintero, R.
Ramos-Silvestre, E. R.
Rivera-Díaz, J. C.
Muñoz-Carrillo, D.
Construction of a WMR for Trajectory Tracking Control: Experimental Results
title Construction of a WMR for Trajectory Tracking Control: Experimental Results
title_full Construction of a WMR for Trajectory Tracking Control: Experimental Results
title_fullStr Construction of a WMR for Trajectory Tracking Control: Experimental Results
title_full_unstemmed Construction of a WMR for Trajectory Tracking Control: Experimental Results
title_short Construction of a WMR for Trajectory Tracking Control: Experimental Results
title_sort construction of a wmr for trajectory tracking control: experimental results
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3749612/
https://www.ncbi.nlm.nih.gov/pubmed/23997679
http://dx.doi.org/10.1155/2013/723645
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