Autonomous mobile robot nonlinear trajectory tracking controller design and implementation on ROS-MATLAB system
2021 China Automation Congress (CAC)(2021)
摘要
The aim of this paper is solving the problem of an autonomous mobile robot indoor trajectory tracking by nonlinear adaptive controller. Similar with a human driver, the adaptive control system optimizes the mobile robot movement based on Lyapunov direct method. Therefore, it can help to rapid development for self-driving industry regarding cost-effectiveness. In addition, faced with the expensive motion capture equipment, this paper introduces an cheaper experiment system with ROSMATLAB framework and low-cost embedded hardware. The controller implementation task was finished on a practical mobile robot, Turtlebot2. In future, the technology can be applied to the self-driving car in industry, and improves the feasibility of outdoor automatic logistics.
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关键词
Robot Operation System(ROS),autonomous robotics,trajectory tracking,Lyapunov direct method
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