This study suggests a novel tracking method that employs three Pixy2 sensors to identify the desired line trajectories instead of traditional perceiving means. Firstly, the kinematic model of the mobile robot is derived from the information gathered by three Pixy2 sensors. Secondly, the sliding mode controller is implemented to regulate the tracking error. Finally, simulation results are analyzed to show the effectiveness of the proposed method.
@article{arxiv.2309.16699,
title = {Circular-Line Trajectory Tracking Controller for Mobile Robot using Multi-Pixy2 Sensors},
author = {Xuan Quang Ngo and Tri Duc Tran and Huy Hung Nguyen and Van Dong Nguyen and Van Tu Duong and Tan Tien Nguyen},
journal= {arXiv preprint arXiv:2309.16699},
year = {2023}
}
Comments
6 pages, 12 figures, the 2023 International Symposium on Electrical and Electronics Engineering, Ho Chi Minh, Viet Nam, 2023