arXiv:2309.16699
Circular-Line Trajectory Tracking Controller for Mobile Robot using Multi-Pixy2 Sensors
Circular-Line Trajectory Tracking Controller for Mobile Robot using Multi-Pixy2 Sensors
著者: Xuan Quang Ngo, Tri Duc Tran, Huy Hung Nguyen, Van Dong Nguyen, Van Tu Duong, Tan Tien Nguyen
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This study suggests a novel tracking method that employs three Pixy2 sensors to identify the desired line trajectories instead of traditional perceiving means. Firstly, the kinematic model of the mobile robot is derived from the information gathered by three Pixy2 sensors. Secondly, the sliding mode controller is implemented to regulate the tracking error. Finally, simulation results are analyzed to show the effectiveness of the proposed method.