M. Siwek, J. Panasiuk, L. Baranowski, W. Kaczmarek, Szymon Borys
{"title":"基于ROS系统的移动机器人轨迹跟踪控制","authors":"M. Siwek, J. Panasiuk, L. Baranowski, W. Kaczmarek, Szymon Borys","doi":"10.5604/01.3001.0016.1458","DOIUrl":null,"url":null,"abstract":"This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robot’s dynamics. The values of unknown parameters of the dynamic model have been determined by means of a Levenberg-Marguardt identification method. By comparing the desired trajectories with those obtained from simulation and laboratory tests, and based on errors analysis, the correctness of the model parameter identification process and the control system operation was then determined.\n\n","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2022-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Trajectory Tracking Control of a Mobile Robot with the ROS System\",\"authors\":\"M. Siwek, J. Panasiuk, L. Baranowski, W. Kaczmarek, Szymon Borys\",\"doi\":\"10.5604/01.3001.0016.1458\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robot’s dynamics. The values of unknown parameters of the dynamic model have been determined by means of a Levenberg-Marguardt identification method. By comparing the desired trajectories with those obtained from simulation and laboratory tests, and based on errors analysis, the correctness of the model parameter identification process and the control system operation was then determined.\\n\\n\",\"PeriodicalId\":52820,\"journal\":{\"name\":\"Problemy Mechatroniki\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Problemy Mechatroniki\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.5604/01.3001.0016.1458\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Problemy Mechatroniki","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5604/01.3001.0016.1458","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Trajectory Tracking Control of a Mobile Robot with the ROS System
This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robot’s dynamics. The values of unknown parameters of the dynamic model have been determined by means of a Levenberg-Marguardt identification method. By comparing the desired trajectories with those obtained from simulation and laboratory tests, and based on errors analysis, the correctness of the model parameter identification process and the control system operation was then determined.
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