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.
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页码：741 / 746
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