Artículos

Discrete–Time Modeling and Path–Tracking for a Wheeled Mobile Robot¹

Modelado en Tiempo Discreto y Seguimiento de Trayectorias para un Robot Móvil Propulsado por Ruedas

Martin Velasco Villa^{* 2}, Eduardo Aranda Bricaire^** and Rodolfo Orosco Guerrero^***

^* ESIME–Culhuacan, Instituto Politécnico Nacional Av. Santa Ana 1000, 04430 México D.F., México. velasco@cinvestav.mx

^** CINVESTAV–IPN, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica Apdo. 14–740, 07000, México DF, México. earanda@cinvestav.mx

^*** Instituto Tecnológico de Celaya, Departamento de Ingeniería Electrónica, Av. Tecnológico y A. García S/N, Celaya Guanajuato, México. rodolfoo@itc.mx

Article received on March 10, 2008
Accepted on September 04, 2008

Abstract

The exact discrete–time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous–time kinematic model. The discrete–time model obtained is used to design two discrete–time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path–tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype.

Keywords: Discrete–time systems, mobile robots, feedback linearization, real time systems.

Resumen

El modelo exacto en tiempo discreto de un robot móvil propulsado por diferencias de velocidades es obtenido por integración directa de su modelo cinemático en tiempo continuo. El modelo en tiempo discreto es utilizado para diseñar dos leyes de control por linealización por retroalimentación con diferentes variedades singulares. Estas leyes de control son usadas para proponer un esquema de control por conmutación que resuelve el problema de seguimiento de trayectoria y garantiza la estabilidad interna del sistema en lazo cerrado. El desempeño del esquema de control es evaluado mediante la implementación en tiempo real de la estrategia de control propuesta sobre un prototipo de laboratorio.

Palabras clave: Sistemas en tiempo discreto, robots móviles, linealización por retroalimentación, sistemas en tiempo real.

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Acknowledgement

First author work was partially supported by CONACyT–México, Under Grant 61713.

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Notas

¹ First author work was partially supported by CONACyT-México, Under Grant 61713.

² M. Velasco-Villa is on sabbatical leave from CINVESTAV-IPN, México.