An embedded hardware for implementation of a tracking control in WMRs

Celso Marquez Sanchez; Ramon Silva Ortigoza; Jose Rafael Garcia Sanchez; Victor Manuel Hernandez Guzman; Mayra Antonio Cruz; Mariana Marcelino Aranda; Gilberto Silva Ortigoza

doi:10.1109/TLA.2018.8447346

An embedded hardware for implementation of a tracking control in WMRs

Celso Marquez Sanchez, Ramon Silva Ortigoza, Jose Rafael Garcia Sanchez, Victor Manuel Hernandez Guzman, Mayra Antonio Cruz, Mariana Marcelino Aranda, Gilberto Silva Ortigoza

Centro de Innovación y Desarrollo Tecnológico en Cómputo (CIDETEC)
Unidad Profesional Interdisciplinaria de Ingeniería y Ciencias Sociales y Administrativas (UPIICSA)

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

The implementation of a hierarchical controller for the trajectory tracking control of a wheeled mobile robot (WMR) is presented in this work. The experimental development of such a controller is performed with the low-cost embedded hardware Jetson TK1 from NVIDIA. In the programming of the controller, free license software with short learning curve is used. To validate the performance of the embedded hardware, a comparison between the results obtained from the WMR in closed-loop is presented when using: a) the embedded hardware Jetson TK1 and b) the fast prototyping DS1104 board from dSPACE. The experimental results show that the Jetson TK1 board could be suitable for the control of autonomous mechatronic systems.

Original language	English
Article number	8447346
Pages (from-to)	1835-1842
Number of pages	8
Journal	IEEE Latin America Transactions
Volume	16
Issue number	7
DOIs	https://doi.org/10.1109/TLA.2018.8447346
State	Published - Jul 2018

Keywords

DS1104
Embedded hardware
Hierarchical controller
Jetson TK1
Trajectory tracking
Wheeled mobile robot

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10.1109/TLA.2018.8447346

Cite this

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title = "An embedded hardware for implementation of a tracking control in WMRs",

abstract = "The implementation of a hierarchical controller for the trajectory tracking control of a wheeled mobile robot (WMR) is presented in this work. The experimental development of such a controller is performed with the low-cost embedded hardware Jetson TK1 from NVIDIA. In the programming of the controller, free license software with short learning curve is used. To validate the performance of the embedded hardware, a comparison between the results obtained from the WMR in closed-loop is presented when using: a) the embedded hardware Jetson TK1 and b) the fast prototyping DS1104 board from dSPACE. The experimental results show that the Jetson TK1 board could be suitable for the control of autonomous mechatronic systems.",

keywords = "DS1104, Embedded hardware, Hierarchical controller, Jetson TK1, Trajectory tracking, Wheeled mobile robot",

author = "Sanchez, {Celso Marquez} and Ortigoza, {Ramon Silva} and Sanchez, {Jose Rafael Garcia} and Guzman, {Victor Manuel Hernandez} and Cruz, {Mayra Antonio} and Aranda, {Mariana Marcelino} and Ortigoza, {Gilberto Silva}",

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AU - Cruz, Mayra Antonio

AU - Aranda, Mariana Marcelino

AU - Ortigoza, Gilberto Silva

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An embedded hardware for implementation of a tracking control in WMRs

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Keywords

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