Cart (Loading....) | Create Account
Close category search window
 

Trajectory tracking control of a nonholonomic mobile robot using iGPS and odometry

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Hada, Y. ; Graduate Sch. of Inf. Syst., Univ. of Electro- Commun., Chofu, Japan ; Hemeldan, E. ; Takase, K. ; Gakuhari, H.

In order for a robot to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. This paper proposes a trajectory tracking control method for a nonholonomic mobile robot that utilizes both iGPS and odometry localization information to precisely calculate the robot's position. The iGPS is an indoor global positioning system that utilizes TV cameras mounted on the ceiling to locate the robot with respect to the world coordinate system. The iGPS localization information is sent to the robot via a wireless LAN, and the robot estimates its position from this information and the robot's internal odometry. The experimental results show that the proposed method enables robust trajectory tracking, even after experiencing a significant disturbance.

Published in:

Multisensor Fusion and Integration for Intelligent Systems, MFI2003. Proceedings of IEEE International Conference on

Date of Conference:

30 July-1 Aug. 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.