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Digital Acceleration Control Method for Path Tracking Control of an Autonomous Mobile Robot
http://hdl.handle.net/10173/1448
http://hdl.handle.net/10173/1448506077e6-a994-4a92-9638-ef1be8de478d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-2.pdf (261.8 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Digital Acceleration Control Method for Path Tracking Control of an Autonomous Mobile Robot | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Autonomous mobile robot | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Nonlinear friction | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Digital acceleration control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Path-tracking | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Wang, Yina
× Wang, Yina× Wang, Shuoyu× Tan, Renpeng× Jiang, Yinlai |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Autonomous mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. So far, the path-tracking accuracy of these robots is low due to nonlinear friction in the wheels, center-of-gravity (COG) shifts and load changes caused by users. To address these issues, a dynamics model is derived that considers nonlinear friction, COG shifts, and load changes. Furthermore, a digital acceleration control algorithm is proposed to compensate for nonlinear friction. Finally, simulations are executed using the proposed method. The results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method. | |||||
| 書誌情報 |
ICIC Express Letters, Part B : Applications 巻 2, 号 6, p. 1267-1272, 発行日 2011-12 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 2185-2766 | |||||
| 権利 | ||||||
| 権利情報 | ICIC International © 2011 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | ICIC International | |||||
