info:eu-repo/semantics/article
Interpolation Based Controller for Trajectory Tracking in Mobile Robots
Fecha
2017-06Registro en:
Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Quintero, L.; Scaglia, Gustavo Juan Eduardo; Interpolation Based Controller for Trajectory Tracking in Mobile Robots; Springer; Journal of Intelligent & Robotic Systems; 86; 3-4; 6-2017; 569-581
0921-0296
1573-0409
CONICET Digital
CONICET
Autor
Serrano, Mario Emanuel
Godoy Bordes, Sebastian Alejandro
Quintero, L.
Scaglia, Gustavo Juan Eduardo
Resumen
In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.