Trajectory control of Mobile Robots

• Main Authors: Shiang-Yung Chen, 陳永祥
• Other Authors: Chi-Kuang Hwang
• Format: Others
• Language: en_US
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/02744726364007670108

碩士 === 中華大學 === 電機工程學系碩士班 === 89 === In this paper, we develop the error system coordinate equation from the kinematics of mobile cars. A nonlinear error system equation is derived from the coordination transform to the center of the mobile car. Then, we use the Lyapunov theorem to design the controller with adjustable parameters for a suitable convergence rate. Based on the practical application, the controller is implemented by a mobile car. The proposed mobile car is small enough for the confining environments, and it is designed with two independent of wheel drives for convenient control of rotation. The proposed controllers are implemented in a notebook computer with real time control software. Both experimental and simulated results generated from the related theorems are verified.