Trajectory Tracking Control of a Mobile Robot with the ROS System
This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robots dynamics. The values of unknown parameters of the dyn...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Military University of Technology, Warsaw
2022-12-01
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| Series: | Problemy Mechatroniki |
| Subjects: | |
| Online Access: | http://promechjournal.pl/gicid/01.3001.0016.1458 |
| Summary: | This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robots dynamics. The values of unknown parameters of the dynamic model have been determined by means of a Levenberg-Marguardt identification method. By comparing the desired trajectories with those obtained from simulation and laboratory tests, and based on errors analysis, the correctness of the model parameter identification process and the control system operation was then determined. |
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| ISSN: | 2081-5891 2720-5266 |