Research Article
Comparative Study of Three Different Path Tracking Controls in Mobile Robots
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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| Volume 74 - Issue 5 |
| Published: July 2013 |
| Authors: Abel Garcia-B., Cristian G. Perez-T., Eduardo S. Espinoza-Q., Francisco R. Trejo-M., Luis E. Ramos-V., Hugo Romero-T., Jesus M. Munoz-P. |
10.5120/12885-9823
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Abel Garcia-B., Cristian G. Perez-T., Eduardo S. Espinoza-Q., Francisco R. Trejo-M., Luis E. Ramos-V., Hugo Romero-T., Jesus M. Munoz-P. . Comparative Study of Three Different Path Tracking Controls in Mobile Robots. International Journal of Computer Applications. 74, 5 (July 2013), 47-51. DOI=10.5120/12885-9823
@article{ 10.5120/12885-9823,
author = { Abel Garcia-B.,Cristian G. Perez-T.,Eduardo S. Espinoza-Q.,Francisco R. Trejo-M.,Luis E. Ramos-V.,Hugo Romero-T.,Jesus M. Munoz-P. },
title = { Comparative Study of Three Different Path Tracking Controls in Mobile Robots },
journal = { International Journal of Computer Applications },
year = { 2013 },
volume = { 74 },
number = { 5 },
pages = { 47-51 },
doi = { 10.5120/12885-9823 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2013
%A Abel Garcia-B.
%A Cristian G. Perez-T.
%A Eduardo S. Espinoza-Q.
%A Francisco R. Trejo-M.
%A Luis E. Ramos-V.
%A Hugo Romero-T.
%A Jesus M. Munoz-P.
%T Comparative Study of Three Different Path Tracking Controls in Mobile Robots%T
%J International Journal of Computer Applications
%V 74
%N 5
%P 47-51
%R 10.5120/12885-9823
%I Foundation of Computer Science (FCS), NY, USA
Abstract
This paper presents a comparative study of three different path tracking control laws for the formation of a group of nonholonomic mobile robots. By introducing a uni?ed error of the formation and trajectory tracking using; the dynamic feedback linearization control [1], dynamic-static feedback linearization control [2] and nonlinear time-invariant control [3] are compared. The simulations results show that the dynamic-static feedback linearization technique presents a stable tracking with smoother behaviour and avoiding discontinuities for tracking trajectory of the robot leader. Finally, this method was implemented experimentally in three different paths formatting a simple triangle with three mobile robots in a leader-follower type motion. Moreover, the analysis in this paper reveals some important issues raising that the following control on this system can be extended to underactuated AUVs in future work.
References
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