Interpolation Based Controller for Trajectory Tracking in Mobile Robots

Autores
Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Quintero, L.; Scaglia, Gustavo Juan Eduardo
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Quintero, L.. Universidad Eafit; Colombia
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
Interpolation
Mobile Robot
Non-Linear Multivariable Control
Tracking Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/69136
Acceder
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network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Interpolation Based Controller for Trajectory Tracking in Mobile RobotsSerrano, Mario EmanuelGodoy Bordes, Sebastian AlejandroQuintero, L.Scaglia, Gustavo Juan EduardoInterpolationMobile RobotNon-Linear Multivariable ControlTracking Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Quintero, L.. Universidad Eafit; ColombiaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaSpringer2017-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/69136Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Quintero, L.; Scaglia, Gustavo Juan Eduardo; Interpolation Based Controller for Trajectory Tracking in Mobile Robots; Springer; Journal of Intelligent & Robotic Systems; 86; 3-4; 6-2017; 569-5810921-02961573-0409CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007/s10846-016-0422-4info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-016-0422-4info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T14:22:48Zoai:ri.conicet.gov.ar:11336/69136instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 14:22:48.422CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Interpolation Based Controller for Trajectory Tracking in Mobile Robots
title Interpolation Based Controller for Trajectory Tracking in Mobile Robots
spellingShingle Interpolation Based Controller for Trajectory Tracking in Mobile Robots
Serrano, Mario Emanuel
Interpolation
Mobile Robot
Non-Linear Multivariable Control
Tracking Control
title_short Interpolation Based Controller for Trajectory Tracking in Mobile Robots
title_full Interpolation Based Controller for Trajectory Tracking in Mobile Robots
title_fullStr Interpolation Based Controller for Trajectory Tracking in Mobile Robots
title_full_unstemmed Interpolation Based Controller for Trajectory Tracking in Mobile Robots
title_sort Interpolation Based Controller for Trajectory Tracking in Mobile Robots
dc.creator.none.fl_str_mv Serrano, Mario Emanuel
Godoy Bordes, Sebastian Alejandro
Quintero, L.
Scaglia, Gustavo Juan Eduardo
author Serrano, Mario Emanuel
author_facet Serrano, Mario Emanuel
Godoy Bordes, Sebastian Alejandro
Quintero, L.
Scaglia, Gustavo Juan Eduardo
author_role author
author2 Godoy Bordes, Sebastian Alejandro
Quintero, L.
Scaglia, Gustavo Juan Eduardo
author2_role author
author
author
dc.subject.none.fl_str_mv Interpolation
Mobile Robot
Non-Linear Multivariable Control
Tracking Control
topic Interpolation
Mobile Robot
Non-Linear Multivariable Control
Tracking Control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Quintero, L.. Universidad Eafit; Colombia
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers.
publishDate 2017
dc.date.none.fl_str_mv 2017-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/69136
Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Quintero, L.; Scaglia, Gustavo Juan Eduardo; Interpolation Based Controller for Trajectory Tracking in Mobile Robots; Springer; Journal of Intelligent & Robotic Systems; 86; 3-4; 6-2017; 569-581
0921-0296
1573-0409
CONICET Digital
CONICET
url http://hdl.handle.net/11336/69136
identifier_str_mv Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Quintero, L.; Scaglia, Gustavo Juan Eduardo; Interpolation Based Controller for Trajectory Tracking in Mobile Robots; Springer; Journal of Intelligent & Robotic Systems; 86; 3-4; 6-2017; 569-581
0921-0296
1573-0409
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007/s10846-016-0422-4
info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-016-0422-4
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.22299

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