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, Poland
2022-12-01
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| Series: | Problemy Mechatroniki |
| Subjects: | |
| Online Access: | http://promechjournal.pl/gicid/01.3001.0016.1458 |
| _version_ | 1797773457562271744 |
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| author | Michał SIWEK Jarosław PANASIUK Leszek BARANOWSKI Wojciech KACZMAREK Szymon BORYS |
| author_facet | Michał SIWEK Jarosław PANASIUK Leszek BARANOWSKI Wojciech KACZMAREK Szymon BORYS |
| author_sort | Michał SIWEK |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-12T22:06:48Z |
| format | Article |
| id | doaj.art-206b633bdc4e47b1bab04f67d95a30d3 |
| institution | Directory Open Access Journal |
| issn | 2081-5891 2720-5266 |
| language | English |
| last_indexed | 2024-03-12T22:06:48Z |
| publishDate | 2022-12-01 |
| publisher | Military University of Technology, Warsaw, Poland |
| record_format | Article |
| series | Problemy Mechatroniki |
| spelling | doaj.art-206b633bdc4e47b1bab04f67d95a30d32023-07-24T11:08:44ZengMilitary University of Technology, Warsaw, PolandProblemy Mechatroniki2081-58912720-52662022-12-01134678410.5604/01.3001.0016.145801.3001.0016.1458Trajectory Tracking Control of a Mobile Robot with the ROS SystemMichał SIWEK0Jarosław PANASIUK1Leszek BARANOWSKI2Wojciech KACZMAREK3Szymon BORYS4Military University of Technology, Faculty of Mechatronics, Armament and Aerospace, Warsaw, PolandMilitary University of Technology, Faculty of Mechatronics, Armament and Aerospace, Warsaw, PolandMilitary University of Technology, Faculty of Mechatronics, Armament and Aerospace, Warsaw, PolandMilitary University of Technology, Faculty of Mechatronics, Armament and Aerospace, Warsaw, PolandMilitary University of Technology, Faculty of Mechatronics, Armament and Aerospace, Warsaw, PolandThis 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.http://promechjournal.pl/gicid/01.3001.0016.1458mobile robotROSparametric dynamic modelidentificationtrajectory tracking |
| spellingShingle | Michał SIWEK Jarosław PANASIUK Leszek BARANOWSKI Wojciech KACZMAREK Szymon BORYS Trajectory Tracking Control of a Mobile Robot with the ROS System Problemy Mechatroniki mobile robot ROS parametric dynamic model identification trajectory tracking |
| title | Trajectory Tracking Control of a Mobile Robot with the ROS System |
| title_full | Trajectory Tracking Control of a Mobile Robot with the ROS System |
| title_fullStr | Trajectory Tracking Control of a Mobile Robot with the ROS System |
| title_full_unstemmed | Trajectory Tracking Control of a Mobile Robot with the ROS System |
| title_short | Trajectory Tracking Control of a Mobile Robot with the ROS System |
| title_sort | trajectory tracking control of a mobile robot with the ros system |
| topic | mobile robot ROS parametric dynamic model identification trajectory tracking |
| url | http://promechjournal.pl/gicid/01.3001.0016.1458 |
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