Title: Modelling and implementation of a car-like mobile robot for trajectory-tracking

Authors: Wei Ren; Qiang Gu; Ding-xin He; Jin Zhao

Addresses: Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China ' Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China ' Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China ' Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China

Abstract: This paper is devoted to design a car-like mobile robot (CLMR) for trajectory-tracking with system modelling, simulation and implementation. We analyse the requirements of the CLMR system, then propose a structure for trajectory-tracking and a scheme of implementation on embedded system. On this basis, the block diagram and simulations for different reference trajectories of two different implementations of the CLMR are provided in this paper respectively. Finally, a series of experiments are made to validate the design and show the performance of the proposed CLMR. According to the experiment results, the proposed CLMR system is proved to have an excellent dynamic characteristic, rapid response and stable capability for trajectory-tracking.

Keywords: car-like mobile robots; CLMR; kinematic modelling; trajectory tracking; simulation; embedded systems; robot kinematics.

DOI: 10.1504/IJMIC.2013.054319

International Journal of Modelling, Identification and Control, 2013 Vol.19 No.2, pp.150 - 160

Published online: 04 Jun 2013 *

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