Application of Inverse Simulation to a Wheeled Mobile Robot

Worrall, K. , Thomson, D. and McGookin, E. (2015) Application of Inverse Simulation to a Wheeled Mobile Robot. In: 6th International Conference on Automation, Robotics and Applications (ICARA 2015), Queenstown, New Zealand, 17-19 Feb 2015,

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This paper presents the application of Inverse Simulation to the control of a mobile robot. The implementation of this technique for motion control has been found to provide accurate trajectory tracking. Since the input to the Inverse Simulation is a time history of the desired response, then greater control over the mobile robot can be achieved. There are many situations where the desired path of a mobile robot is known e.g. planetary rover navigation, factory or warehouse floor. Typically the robot is either controlled remotely or runs an online controller to navigate the desired path. For a given path, a navigation system generates the desired drive parameters and the associated controllers drive the corresponding actuators. Traditionally the controllers are required to be tuned using knowledge of the limitations of the mobile robot. Inverse Simulation provides a means of generating the required control signals with no need for controller tuning.

Item Type:Conference Proceedings
Keywords:Inverse Simulation; Mobile Robot; Control;
Glasgow Author(s) Enlighten ID:Worrall, Dr Kevin and McGookin, Dr Euan and Thomson, Dr Douglas
Authors: Worrall, K., Thomson, D., and McGookin, E.
College/School:College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity

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