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Kinematic Control of an Autonomous Ground Vehicle Using Inverse Dynamics Controller

Pedapati, Praneeth Kumar ; Pradhan, Santanu Kumar ; Kumar, Surendra Reddy, M. Jaya Bharata ; Ghosh, Debomita ; Kumar, Deepak ; Mohanta, Dusmanta Kr

Advances in Smart Grid Automation and Industry 4.0, p.313-324

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Título:
Kinematic Control of an Autonomous Ground Vehicle Using Inverse Dynamics Controller
Autor: Pedapati, Praneeth Kumar ; Pradhan, Santanu Kumar ; Kumar, Surendra
Reddy, M. Jaya Bharata ; Ghosh, Debomita ; Kumar, Deepak ; Mohanta, Dusmanta Kr
Assuntos: Actuator dynamics ; Differential drive ; Inverse of dynamics ; Kinematics of mobile robot ; Matlab/simulink ; Mobile robot
É parte de: Advances in Smart Grid Automation and Industry 4.0, p.313-324
Descrição: In this paper, the kinematics of two-wheel differential drive mobile robot is analyzed and simulated for tracking a reference trajectory. The AGV is controlled with a combination of PID and a proposed controller depicted from the inverse of actuator dynamics in continuous domain. This inverse dynamics controller helps in compensating the unmodeled nonlinearities in the model, thereby keeping the rotor speed of the DC motor much accurate as required for the mobile robot to follow the reference trajectory. The simulation of the trajectory tracking of a differential drive mobile robot using proposed controller is performed in MATLAB and the results were shown. The results were found to be acceptable and applicable for multi-purpose AGVs for trajectory tracking applications.
Títulos relacionados: Lecture Notes in Electrical Engineering
Editor: Singapore: Springer Singapore
Idioma: Inglês

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