{"title":"Trajectory tracking of a tri-wheel mobile robot using the castor wheel's twist angle","authors":"R. Beniak, T. Pyka","doi":"10.1109/MMAR.2019.8864682","DOIUrl":null,"url":null,"abstract":"This paper presents an advanced control algorithm, which accounts for an additional impact of a castor wheel on a tri-wheel robot's trajectory. It demonstrates how to use the information on the angle of twist in order to limit the errors stemming from odometry. Thanks to applying the proven relationship between the trajectory's curvature and the angle of twist of a castor free wheel, we reduced the driving wheels' rotation errors in the robot's motion along the desired trajectory.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2019.8864682","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents an advanced control algorithm, which accounts for an additional impact of a castor wheel on a tri-wheel robot's trajectory. It demonstrates how to use the information on the angle of twist in order to limit the errors stemming from odometry. Thanks to applying the proven relationship between the trajectory's curvature and the angle of twist of a castor free wheel, we reduced the driving wheels' rotation errors in the robot's motion along the desired trajectory.
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