Global path-following control for nonholonomic mobile robots

被引：0
|
作者：
Zheng, Ze-Wei [1 ]
Huo, Wei [2 ]
Zhu, Bing [2 ]
机构：
[1] Science and Technology on Aircraft Control Laboratory, School of Aeronautical Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
[2] Science and Technology on Aircraft Control Laboratory, The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2012年 / 29卷 / 06期
关键词：
Closed loop systems - Controllers;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A novel global path-following controller for a nonholonomic mobile robot is proposed based on the guidancebased path-following principle. Tracking errors between the real and desired positions are calculated in the path reference frame; the desired attitude and the updating law for the path parameters are deduced according to the guidance principles, the angular velocity and the control laws are determined from the obtained results. We also develop the method for calculating the reference point for the initial path, and investigate the path-following direction and the method of its reversion. The stability analysis shows that this scheme is free from control singular points, and the closed-loop system achieves the global, uniform and asymptotic convergence. Experimental results from a mobile robot are presented to validate the effectiveness of proposed controller.
引用
下载
收藏
页码：741 / 746
相关论文
共 50 条
  • [21] Formation Path-following Control of Multi-snake Robots
    Hao, Shuang
    He, Yupeng
    Chen, Jiyao
    Wang, Zheng
    Dianzi Yu Xinxi Xuebao/Journal of Electronics and Information Technology, 2024, 46 (07): : 2981 - 2993
  • [22] Path-Following Control Capable of Reinforcing Transient Performances for Networked Mobile Robots Over a Single Curve
    Zhang, Jintao
    Shao, Xingling
    Zhang, Wendong
    Na, Jing
    IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2023, 72
  • [23] Reactive path deformation for nonholonomic mobile robots
    Lamiraux, F
    Bonnafous, D
    Lefebvre, O
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (06): : 967 - 977
  • [24] Path-following control for aerial manipulators robots with priority on energy saving
    Carvajal, Christian P.
    Andaluz, Victor H.
    Roberti, Flavio
    Carelli, Ricardo
    CONTROL ENGINEERING PRACTICE, 2023, 131
  • [25] Path-following control of a mobile robot in the presence of actuator constraints
    Wada, Nobutaka
    Tagami, Shingo
    Saeki, Masami
    ADVANCED ROBOTICS, 2007, 21 (5-6) : 645 - 659
  • [26] Control of an underactuated mobile robot using the path-following technique
    Barrera, Emanuel Alfredo Romo
    Morales, Jose Gerardo Benitez
    Gonzalez-Sierra, Jaime
    2023 XXV ROBOTICS MEXICAN CONGRESS, COMROB, 2023, : 128 - 133
  • [27] Kinematic path-following control of a mobile robot on arbitrary surface
    Kane, Gavin
    Boesecke, Robert
    Raczkowsky, Joerg
    Woern, Heinz
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 1562 - 1567
  • [28] EXPONENTIAL CONTROL LAW FOR A MOBILE ROBOT - EXTENSION TO PATH-FOLLOWING
    SORDALEN, OJ
    DEWIT, CC
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (06): : 837 - 842
  • [29] Formation control of nonholonomic mobile robots with inaccurate global positions and velocities
    Li, Li
    Kuang, Changgen
    Xia, Yuanqing
    Qiang, Jiaping
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2022, 32 (18) : 9776 - 9790
  • [30] Path following for nonholonomic mobile manipulators
    Mazur, Alicja
    ROBOT MOTION AND CONTROL 2007, 2007, 360 : 279 - 292
12345