Experimental comparison of control strategies for trajectory tracking for mobile robots

Autores
Capito, Linda; Proaño, Pablo; Camacho, Oscar; Rosales, Andrés; Scaglia, Gustavo Juan Eduardo
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.
Fil: Capito, Linda. Escuela Politécnica Nacional; Ecuador
Fil: Proaño, Pablo. Escuela Politécnica Nacional; Ecuador
Fil: Camacho, Oscar. Escuela Politécnica Nacional; Ecuador
Fil: Rosales, Andrés. Escuela Politécnica Nacional; Ecuador
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. Centro Científico Tecnológico Conicet - San Juan; Argentina
Materia
ALGORITHM
COMPARISON
CONTROL
CONTROLLER
LINEAR ALGEBRA
MOBILE ROBOT
SLIDING MODE CONTROL
SMC
TRAJECTORY TRACKING
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nd/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/99942
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/99942
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Experimental comparison of control strategies for trajectory tracking for mobile robotsCapito, LindaProaño, PabloCamacho, OscarRosales, AndrésScaglia, Gustavo Juan EduardoALGORITHMCOMPARISONCONTROLCONTROLLERLINEAR ALGEBRAMOBILE ROBOTSLIDING MODE CONTROLSMCTRAJECTORY TRACKINGhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.Fil: Capito, Linda. Escuela Politécnica Nacional; EcuadorFil: Proaño, Pablo. Escuela Politécnica Nacional; EcuadorFil: Camacho, Oscar. Escuela Politécnica Nacional; EcuadorFil: Rosales, Andrés. Escuela Politécnica Nacional; EcuadorFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaInderscience Enterprises2016-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/99942Capito, Linda; Proaño, Pablo; Camacho, Oscar; Rosales, Andrés; Scaglia, Gustavo Juan Eduardo; Experimental comparison of control strategies for trajectory tracking for mobile robots; Inderscience Enterprises; International Journal of Automation and Control; 10; 3; 3-2016; 308-3271740-7524CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.inderscience.com/info/inarticle.php?artid=77591info:eu-repo/semantics/altIdentifier/doi/10.1504/IJAAC.2016.077591info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nd/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:58:10Zoai:ri.conicet.gov.ar:11336/99942instacron: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:34982025-09-29 09:58:10.736CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Experimental comparison of control strategies for trajectory tracking for mobile robots
title Experimental comparison of control strategies for trajectory tracking for mobile robots
spellingShingle Experimental comparison of control strategies for trajectory tracking for mobile robots
Capito, Linda
ALGORITHM
COMPARISON
CONTROL
CONTROLLER
LINEAR ALGEBRA
MOBILE ROBOT
SLIDING MODE CONTROL
SMC
TRAJECTORY TRACKING
title_short Experimental comparison of control strategies for trajectory tracking for mobile robots
title_full Experimental comparison of control strategies for trajectory tracking for mobile robots
title_fullStr Experimental comparison of control strategies for trajectory tracking for mobile robots
title_full_unstemmed Experimental comparison of control strategies for trajectory tracking for mobile robots
title_sort Experimental comparison of control strategies for trajectory tracking for mobile robots
dc.creator.none.fl_str_mv Capito, Linda
Proaño, Pablo
Camacho, Oscar
Rosales, Andrés
Scaglia, Gustavo Juan Eduardo
author Capito, Linda
author_facet Capito, Linda
Proaño, Pablo
Camacho, Oscar
Rosales, Andrés
Scaglia, Gustavo Juan Eduardo
author_role author
author2 Proaño, Pablo
Camacho, Oscar
Rosales, Andrés
Scaglia, Gustavo Juan Eduardo
author2_role author
author
author
author
dc.subject.none.fl_str_mv ALGORITHM
COMPARISON
CONTROL
CONTROLLER
LINEAR ALGEBRA
MOBILE ROBOT
SLIDING MODE CONTROL
SMC
TRAJECTORY TRACKING
topic ALGORITHM
COMPARISON
CONTROL
CONTROLLER
LINEAR ALGEBRA
MOBILE ROBOT
SLIDING MODE CONTROL
SMC
TRAJECTORY TRACKING
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.
Fil: Capito, Linda. Escuela Politécnica Nacional; Ecuador
Fil: Proaño, Pablo. Escuela Politécnica Nacional; Ecuador
Fil: Camacho, Oscar. Escuela Politécnica Nacional; Ecuador
Fil: Rosales, Andrés. Escuela Politécnica Nacional; Ecuador
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. Centro Científico Tecnológico Conicet - San Juan; Argentina
description The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.
publishDate 2016
dc.date.none.fl_str_mv 2016-03
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/11336/99942
Capito, Linda; Proaño, Pablo; Camacho, Oscar; Rosales, Andrés; Scaglia, Gustavo Juan Eduardo; Experimental comparison of control strategies for trajectory tracking for mobile robots; Inderscience Enterprises; International Journal of Automation and Control; 10; 3; 3-2016; 308-327
1740-7524
CONICET Digital
CONICET
url http://hdl.handle.net/11336/99942
identifier_str_mv Capito, Linda; Proaño, Pablo; Camacho, Oscar; Rosales, Andrés; Scaglia, Gustavo Juan Eduardo; Experimental comparison of control strategies for trajectory tracking for mobile robots; Inderscience Enterprises; International Journal of Automation and Control; 10; 3; 3-2016; 308-327
1740-7524
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.inderscience.com/info/inarticle.php?artid=77591
info:eu-repo/semantics/altIdentifier/doi/10.1504/IJAAC.2016.077591
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nd/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nd/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Inderscience Enterprises
publisher.none.fl_str_mv Inderscience Enterprises
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
_version_ 1844613735740604416
score 13.070432

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