P and Feedforward Control for Mobile Robot

Abstract

Wheeled mobile robots have a wide range of applications in aerospace, military, industry, medical services, and even entertainment. It is simple in design and easy in fabrication and is widely studied by scholars at home and abroad. However, the path-tracking problem of wheeled mobile robots has also been a key problem inhibiting their development. In this design, the kinematic model of the robot is constructed by using P and feedforward, and a double closed-loop P and feedforward control system is designed. After a trial-and-error method, the appropriate control parameters are obtained. The simul ink function in MATLAB is used to simulate and verify the path-following ability of the method.

Faster Implementation of The Dynamic Window Approach Based on Non-Discrete Path Representation

“…A series of coordinates corresponding to a series of input velocities is known as a path. This model is widely employed in related studies of wheeled robots [22][23][24][25][26].…”

“…Next, we simplify the first interval of (19) as A(t) + c 1 , the second interval as B(t) + c 2 , first interval of (20) as C(t) + c 3 , and the second interval as D(t) + c 4 . Finally, we compute the constant of integration using Equations ( 22)- (25).…”