Discrete time position feedback based steering control for autonomous homing of a mobile robot

Dwaracherla, Vikranth Reddy and Thakar, Shantanu and Kumar, Arun GK and Vachhani, Leena (2016) Discrete time position feedback based steering control for autonomous homing of a mobile robot. In: 12th IEEE International Conference on Control and Automation (ICCA), JUN 01-03, 2016, Kathmandu, NEPAL, pp. 773-778.

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Abstract

This paper presents a steering control law based on discrete time position feedback to drive the mobile robot to a predefined home position. The controller relies on controlling the rotation direction of the robot for homing, which works even for an erroneous feedback. The proposed control law steers the robot to an interior of a small circle centred at the home position in the presence of bounded random position measurement errors. Position feedback without the need of accurate measurement and guarantee in autonomous homing in the presence of sensor errors by merely changing the steering direction makes the proposed controller suitable for low-cost robot applications. Theoretical results presented in this paper are verified using Matlab simulations and experiments.

Item Type:	Conference Proceedings
Series.:	IEEE International Conference on Control and Automation ICCA
Additional Information:	Copy right for this article belongs to the IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	28 Oct 2016 07:26
Last Modified:	28 Oct 2016 07:26
URI:	http://eprints.iisc.ac.in/id/eprint/55175

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