Giang , Hoang, and Hak , Kyeong Kim, and Sang, Bong Kim (2013) Path Tracking Controller of Quadruped Robot for Obstacle Avoidance Using Potential Functions Method. International Journal of Science and Engineering, 4 (1). pp. 1-5. ISSN 20865023
|PDF - Published Version|
Official URL: http://ejournal.undip.ac.id/index.php/ijse/article...
This paper proposes a tracking controller for obstacle avoidance of a quadruped robot using potential functions method. The followings are done for this task. At first, a ceiling-mounted camera system is installed for image processing. The goal point and obstacles are separated and recognized by a color recognition method. Second, a path planning algorithm using potential functions method is proposed to generate the path to avoid obstacles and to plan a path for the quadruped robot to reach from start point to goal point. Third, a quadruped robot is chosen as the mobile platform for this study and the kinematic model for the robot is presented. Fourth, a tracking controller is designed for the quadruped robot to track the trajectory based on the backstepping method using Lyapunov function. Finally, the simulation results are presented to show the effectiveness of the proposed trajectory planning algorithm and the tracking controller.
|Subjects:||T Technology > TP Chemical technology|
|Divisions:||Faculty of Engineering > Department of Chemical Engineering|
Faculty of Engineering > Department of Chemical Engineering
UNDIP Journal > International Journal of Science and Engineering
|Deposited By:||teknik kimia|
|Deposited On:||20 Dec 2012 10:57|
|Last Modified:||25 Dec 2012 18:14|
Repository Staff Only: item control page