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Interpolation Based Controller for Trajectory Tracking in Mobile Robots

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Abstract

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.

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Authors and Affiliations

  1. National Scientific and Technical Research Council (CONICET) and Instituto de Ingeniería Química, Universidad Nacional de San Juan, San Juan, Argentina

    Mario E. Serrano, Sebastian A. Godoy & Gustavo J. E. Scaglia

  2. Departamento de Ciencias Matematicas, Universidad de EAFIT, Medellín, Colombia

    L. Quintero

Authors
  1. Mario E. Serrano
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  2. Sebastian A. Godoy
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  3. L. Quintero
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  4. Gustavo J. E. Scaglia
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Correspondence to Mario E. Serrano.

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Serrano, M.E., Godoy, S.A., Quintero, L. et al. Interpolation Based Controller for Trajectory Tracking in Mobile Robots. J Intell Robot Syst 86, 569–581 (2017). https://doi.org/10.1007/s10846-016-0422-4

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