Ontology highlight
ABSTRACT:
SUBMITTER: Silva-Ortigoza R
PROVIDER: S-EPMC3749612 | biostudies-literature | 2013
REPOSITORIES: biostudies-literature
Silva-Ortigoza R R Márquez-Sánchez C C Marcelino-Aranda M M Marciano-Melchor M M Silva-Ortigoza G G Bautista-Quintero R R Ramos-Silvestre E R ER Rivera-Díaz J C JC Muñoz-Carrillo D D
TheScientificWorldJournal 20130711
This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in ...[more]