Trajectory specification for accurate tracking control of a differential drive WMR

John, S, Garbutt, J and Vinay, T 2006, 'Trajectory specification for accurate tracking control of a differential drive WMR', in Proceedings of the 2006 International Conference on Modelling, Simulation and Visualization Methods - MSV'06, Las Vegas, USA, 26-29 June 2006.


Document type: Conference Paper
Collection: Conference Papers

Title Trajectory specification for accurate tracking control of a differential drive WMR
Author(s) John, S
Garbutt, J
Vinay, T
Year 2006
Conference name International Conference on Modelling, Simulation and Visualization Methods
Conference location Las Vegas, USA
Conference dates 26-29 June 2006
Proceedings title Proceedings of the 2006 International Conference on Modelling, Simulation and Visualization Methods - MSV'06
Publisher CSREA
Place of publication Las Vegas, USA
Abstract As the speed and payload of Wheeled Mobile Robots (WMRs) increases and the clearances between obstacles and docking error tolerances decreases, methods for reducing tracking errors become increasingly important for a successful application. In this paper techniques and results are presented for improved tracking control of a WMR through the generation and dynamic simulation of paths with and without curvature discontinuities.
Subjects Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
Copyright notice © 2006 CSREA Press
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