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

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1 Citation (Scopus)

Abstract

© 2003-2012 IEEE. 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 languageAmerican English
Pages (from-to)1835-1842
Number of pages1650
JournalIEEE Latin America Transactions
DOIs
StatePublished - 1 Jul 2018

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Hardware
Mobile robots
Controllers
Mechatronics
Trajectories
Costs

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Sanchez, Celso Marquez ; Ortigoza, Ramon Silva ; Sanchez, Jose Rafael Garcia ; Guzman, Victor Manuel Hernandez ; Cruz, Mayra Antonio ; Aranda, Mariana Marcelino ; Ortigoza, Gilberto Silva. / An embedded hardware for implementation of a tracking control in WMRs. In: IEEE Latin America Transactions. 2018 ; pp. 1835-1842.
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An embedded hardware for implementation of a tracking control in WMRs. / Sanchez, Celso Marquez; Ortigoza, Ramon Silva; Sanchez, Jose Rafael Garcia; Guzman, Victor Manuel Hernandez; Cruz, Mayra Antonio; Aranda, Mariana Marcelino; Ortigoza, Gilberto Silva.

In: IEEE Latin America Transactions, 01.07.2018, p. 1835-1842.

Research output: Contribution to journalArticleResearchpeer-review

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