Approximate Posture Increment Control for the Targeting Task of Differential Drive Robots

研究成果: Conference contribution

摘要

Differential drive robots (DDRs) are an effective and efficient solution for many mobile robotics applications. These kind of robots are a type of mobile robots that are characterized by their use of two independently controlled wheels. DDRs are highly maneuverable, as they can rotate in a narrow space, move sideways, and make tight turns. This makes them ideal for applications that require precise positioning and navigation, such as inspection, exploration, and search and rescue. Therefore, most of the research focuses on tracking problems in which information of the reference trajectories are known. Different from the typical Laypunov based DDR's tracking control algorithm, a targeting control task which focuses on pointing and chasing a target point using only the target position is presented. Considering an approximated discrete time representation of DDR dynamics, a simple targeting scheme is proposed in the form of the so-called approximate pose increment control (APIC). Based on the proposed method, the use of coordinate transformation as well as a Lyapunov function are no longer needed to achieve the desired control goal. Simulations demonstrate multiple targeting courses to verify the feasibility and effectiveness of the proposed APIC algorithm.

原文English
主出版物標題Proceedings of the 2023 IEEE 6th International Conference on Knowledge Innovation and Invention, ICKII 2023
編輯Teen-Hang Meen
發行者Institute of Electrical and Electronics Engineers Inc.
頁面755-760
頁數6
ISBN(電子)9798350323535
DOIs
出版狀態Published - 2023
事件6th IEEE International Conference on Knowledge Innovation and Invention, ICKII 2023 - Sapporo, Japan
持續時間: 2023 8月 112023 8月 13

出版系列

名字Proceedings of the 2023 IEEE 6th International Conference on Knowledge Innovation and Invention, ICKII 2023

Conference

Conference6th IEEE International Conference on Knowledge Innovation and Invention, ICKII 2023
國家/地區Japan
城市Sapporo
期間23-08-1123-08-13

All Science Journal Classification (ASJC) codes

  • 電腦科學應用
  • 電腦視覺和模式識別
  • 軟體
  • 決策科學(雜項)
  • 資訊系統與管理
  • 控制與系統工程
  • 控制和優化
  • 人工智慧

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