Multivariable mobile robot motion controller

• المؤلف الرئيسي: Okullo Oballa, Thomas S.
• مؤلفون آخرون: Chin, Leonard
• التنسيق: Theses and Dissertations
• اللغة: English
• منشور في: 2009
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/19552

This thesis presents a new architecture for a cross-coupled motion controller for a mobile robot. It is applicable to mobile robots driven by DC motors with the differential drive configuration. This configuration is very flexible as it permits both linear motion and steering to be controlled by the...