Path following controller for differentially driven planar robots with limited torques and uncertain and changing dynamics

Pitkänen, Ville; Halonen, Veikko; Kemppainen, Anssi; Röning, Juha (2019-08-12)
 
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https://doi.org/10.1109/icra.2019.8794198

Pitkänen, Ville
Halonen, Veikko
Kemppainen, Anssi
Röning, Juha
Institute of Electrical and Electronics Engineers
12.08.2019

Pitkanen, V., Halonen, V., Kemppainen, A., & Roning, J. (2019). Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics. 2019 International Conference on Robotics and Automation (ICRA). Presented at the 2019 International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2019.8794198

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doi:https://doi.org/10.1109/ICRA.2019.8794198
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https://urn.fi/URN:NBN:fi-fe2019121146738
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Abstract

This paper presents a path following controller that is suitable for asymmetrical planar robots with significant mass and limited motor torques. the controller is resistant against environmental forces, and inaccurate estimates of robot’s inertia, by estimating their effects with unscented kalman filter. the controller outputs wheel torque commands which take in account the motor torque limits and given relative priority of internal control elements. the method presented is thoroughly explained and the simulation results demonstrate the performance of the controller.

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