Robotics

Trajectory control of differential drive mobile robots
(from january 1998 to june 2004)

• Members:
  • Geovany Araújo Borges
  • Antônio Marcus Nogueira Lima (DEE, UFCG)
  • Gurdip Singh Deep (DEE, UFCG).
• Goals: Development of trajectory control laws for differential drive mobile robots.
• Activities: Hierarchical architecture, linear, non-linear and fuzzy control laws.

Images

Hierarchical controle architecture

MATLAB Simulator

• Videos:
  
• Simulator:
  • SIMCTRAJ.
    
• Publications:
  
  1. G. A. Borges, A. M. N. Lima and G. S. Deep, "Controladores Cinemáticos de Trajetória para Robôs Móveis com Tração Diferencial". In Proc. of VI Simpósio Brasileiro de Automação Inteligente (SBAI), september 14-17, Bauru, SP, Brazil, 2003. (PDF) (in brazilian portuguese)
  2. G. A. Borges, A. M. N. Lima and G. S. Deep, "Design of an Output Feedback Trajectory Controller for an Automated Guided Vehicle". In Proc. of XIII Congresso Brasileiro de Automática (CBA), september 11-14, Florianópolis, SC, Brazil, 2000. (PDF)