mobile robot, control system
An autonomous control system designed for a non-holonomic wheeled mobile robot that is programmed to emulate a fixed-wing unmanned air vehicle (UAV) flying at constant altitude is experimentally validated. The overall system is capable of waypoint navigation, threat avoidance, real-time trajectory generation and trajectory tracking. Both the wheeled mobile robot experimental platform and the hierarchical autonomous control software architecture are introduced. Programmed to emulate a fixed-wing UAV flying at constant altitude, a non-holonomic mobile robot is assigned to follow a desired time-parameterised trajectory generated by a real-time trajectory generator to transition through a sequence of targets in the presence of static and popup threats. Hardware results of the autonomous control system where the trajectory tracker applies two velocity controllers accounting for fixed-wing UAV-like input constraints, are compared to simulation results of dynamic controllers that are based on non-smooth backstepping to demonstrate the effectiveness of the overall system.
Original Publication Citation
Ren, W., Sun, J., Beard R., and McLain, T. Experimental Validation of an Autonomous Control System on a Mobile Robot Platform, IET Proceedings on Control Theory and Applications, vol. 1, no. 6, pp. 1621-1629, November 2007.
BYU ScholarsArchive Citation
McLain, Timothy; Beard, Randall W.; Ran, Wei; and Sun, J.-S., "Experimental Validation of an Autonomous Control System on a Mobile Robot Platform" (2007). All Faculty Publications. 1908.
Institution of Engineering and Technology
Ira A. Fulton College of Engineering and Technology
© The Institution of Engineering and Technology. This is the author's submitted version of this article. The definitive version can be found at http://digital-library.theiet.org/content/journals/10.1049/iet-cta_20070017
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