Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

作     者：YU Wenyong School of Mechanical Engineering,Huazhong University of Science & Technology,Wuhan 430074,China, 

作者机构：School of Mechanical EngineeringHuazhong University of Science & TechnologyWuhan 430074China 

出 版 物：《武汉理工大学学报》 (Journal of Wuhan University of Technology)

年 卷 期：2006年第28卷第S3期

页      面：861-866页

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：wheeled mobile robots motion control dynamic tracking 

摘      要：A control strategy for real-time target tracking for wheeled mobile robots is *** a modified Kalman filter for environment perception,a novel tracking control law derived from Lyapunov stability theory is *** of linear velocity and angular velocity with mechanical constraints is *** proposed control system can simultaneously solve the target trajectory prediction,real-time tracking,and posture regulation problems of a wheeled mobile *** results illustrate the effectiveness of the proposed tracking control laws.