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Open AccessArticle

A Sensor Fusion Based Nonholonomic Wheeled Mobile Robot for Tracking Control

1
Graduate Institute Automation Technology, National Taipei University of Technology, Taipei 10608, Taiwan
2
High-Tech Facility Research Center, Department of Civil Engineering, National Taiwan University, Zhubei 30264, Taiwan
3
Department of Bioinformatics and Medical Engineering, Asia University, Taichung 41354, Taiwan
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(24), 7055; https://doi.org/10.3390/s20247055
Received: 30 October 2020 / Revised: 3 December 2020 / Accepted: 4 December 2020 / Published: 9 December 2020
(This article belongs to the Special Issue Intelligent Sensing Systems for Vehicle)
In this paper, a detail design procedure of the real-time trajectory tracking for the nonholonomic wheeled mobile robot (NWMR) is proposed. A 9-axis micro electro-mechanical systems (MEMS) inertial measurement unit (IMU) sensor is used to measure the posture of the NWMR, the position information of NWMR and the hand-held device are acquired by global positioning system (GPS) and then transmit via radio frequency (RF) module. In addition, in order to avoid the gimbal lock produced by the posture computation from Euler angles, the quaternion is utilized to compute the posture of the NWMR. Furthermore, the Kalman filter is used to filter out the readout noise of the GPS and calculate the position of NWMR and then track the object. The simulation results show the posture error between the NWMR and the hand-held device can converge to zero after 3.928 seconds for the dynamic tracking. Lastly, the experimental results show the validation and feasibility of the proposed results. View Full-Text
Keywords: nonholonomic; wheeled mobile robot (WMR); tracking control; global positioning system (GPS); radio frequency (RF); Kalman filter; quaternion; trajectory tracking nonholonomic; wheeled mobile robot (WMR); tracking control; global positioning system (GPS); radio frequency (RF); Kalman filter; quaternion; trajectory tracking
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MDPI and ACS Style

Tsai, S.-H.; Kao, L.-H.; Lin, H.-Y.; Lin, T.-C.; Song, Y.-L.; Chang, L.-M. A Sensor Fusion Based Nonholonomic Wheeled Mobile Robot for Tracking Control. Sensors 2020, 20, 7055. https://doi.org/10.3390/s20247055

AMA Style

Tsai S-H, Kao L-H, Lin H-Y, Lin T-C, Song Y-L, Chang L-M. A Sensor Fusion Based Nonholonomic Wheeled Mobile Robot for Tracking Control. Sensors. 2020; 20(24):7055. https://doi.org/10.3390/s20247055

Chicago/Turabian Style

Tsai, Shun-Hung; Kao, Li-Hsiang; Lin, Hung-Yi; Lin, Ta-Chun; Song, Yu-Lin; Chang, Luh-Maan. 2020. "A Sensor Fusion Based Nonholonomic Wheeled Mobile Robot for Tracking Control" Sensors 20, no. 24: 7055. https://doi.org/10.3390/s20247055

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