Path tracking mobile robot using steppers
In control of mobile robots, precision plays a key role in path tracking. In this paper we have intended to use hybrid stepper motors for precise control of the two wheeled robot. A control algorithm was developed to control the robot along different trajectories. We have found that stepper motors a...
| 主要な著者: | , , , |
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| フォーマット: | 論文 |
| 言語: | English |
| 出版事項: |
EDP Sciences
2019-01-01
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| シリーズ: | E3S Web of Conferences |
| オンライン･アクセス: | https://www.e3s-conferences.org/articles/e3sconf/pdf/2019/13/e3sconf_SeFet2019_01028.pdf |
| 要約: | In control of mobile robots, precision plays a key role in path tracking. In this paper we have intended to use hybrid stepper motors for precise control of the two wheeled robot. A control algorithm was developed to control the robot along different trajectories. We have found that stepper motors are more accurate for path tracking than normal DC motors with wheel encoders and one can obtain the implicit coordinates of the robot in runtime more precisely. Getting the precise coordinates of the robot at runtime can be used in various SLAM and VSLAM techniques for more accurate 3D mapping of the environment. |
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| ISSN: | 2267-1242 |