Experimental validation of an autonomous control system on a mobile robot platform

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Experimental validation of an autonomous control system on a mobile robot platform

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An autonomous control system designed for a non-holonomic wheeled mobile robot that is programmed to emulate a fixed-wing unmanned air vehicle (UAV) flying at constant altitude is experimentally validated. The overall system is capable of waypoint navigation, threat avoidance, real-time trajectory generation and trajectory tracking. Both the wheeled mobile robot experimental platform and the hierarchical autonomous control software architecture are introduced. Programmed to emulate a fixed-wing UAV flying at constant altitude, a non-holonomic mobile robot is assigned to follow a desired time-parameterised trajectory generated by a real-time trajectory generator to transition through a sequence of targets in the presence of static and popup threats. Hardware results of the autonomous control system where the trajectory tracker applies two velocity controllers accounting for fixed-wing UAV-like input constraints, are compared to simulation results of dynamic controllers that are based on non-smooth backstepping to demonstrate the effectiveness of the overall system.

Inspec keywords: software architecture; mobile robots; position control; remotely operated vehicles; aircraft navigation

Other keywords: unmanned air vehicle; nonholonomic wheeled mobile robot; trajectory tracking; trajectory generation; autonomous control system; waypoint navigation; threat avoidance; software architecture

Subjects: Aerospace control; Spatial variables control; Mobile robots; Software engineering techniques; Control engineering computing

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