Correction of Transportation Lag in the Mobile Robot Control System
Y. N. Zolotukhin, K. Y. Kotov, A. S. Maltsev, A. A. Nesterov, M. N. Filippov, A. P. Yan
Institute of Automation and Electrometry Siberian Branch, Russian Academy of Sciences
zol@idisys.iae.nsk.su, kotov@idisys.iae.nsk.su, alexandr@idisys.iae.nsk.su, michael@idisys.iae.nsk.su, yan@idisys.iae.nsk.su
Keywords: mobile robot e-puck, trajectory motion, transportation lag
Pages: 46-57
Abstract
The influence of the transportation lag and the classical methods of its correction in a control system for a mobile robot with a differential drive are considered. Such effects as slipping of wheels and surface roughness are demonstrated to restrict the area of applicability of conventional algorithms of time lag correction. A time lag correction method is proposed, which is based on analytical extrapolation and extended Kalman filter. Experimental results confirm the efficiency of the approach proposed.
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