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)

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

4 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Número de artículo	8447346
Páginas (desde-hasta)	1835-1842
Número de páginas	8
Publicación	IEEE Latin America Transactions
Volumen	16
N.º	7
DOI	https://doi.org/10.1109/TLA.2018.8447346
Estado	Publicada - jul. 2018

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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 - Guzman, Victor Manuel Hernandez

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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