Mobile Robot Path Tracking Using Slip Estimation for Kinematics Information
1 School of Mechanical Engineering, Suranaree University of Technology Nakhonratchasima, 30000, Thailand
2 Department of Mechanical Engineering, Kasetsart University Kampangsaen campus, Nakhon Phatom, Thailand
This paper presents the advantages of kinematic model over the dynamics one to control the path of autonomous mobile robot in outdoor working environment since the kinematics model is easier to be sensed and calculated the inertial information. Certainly, global navigation satellite system receiver accompanied with conventional inertial measurement unit are used together, so-called INS, in order to compensate the limitation of each other. The slip angle is one of parameters that cannot be direct measured but with the measurement techniques using two antennas receiver, it can be estimated. Fuzzy logic control rule of determination is used for simply heuristic one in order to track the robot path. The results show the satisfactory of tracking path.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.