Real time feedback control for nonholonomic mobile robots with obstacles

被引：35
|
作者：
Lindemann, Stephen R. [1 ]
Hussein, Islam I. [2 ]
LaValle, Steven A. [3 ]
机构：
[1] Univ Illinois, Dept Elect Engn, Urbana, IL 61801 USA
[2] Worcester Polytech Inst, Dept Mech Engn, Worcester, MA 01609 USA
[3] Univ Illinois, Dept Comp Sci, Urbana, IL 61801 USA
来源：
PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年
基金：
美国国家科学基金会;
关键词：
D O I：
10.1109/CDC.2006.377631
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We introduce a method for constructing smooth feedback laws for a nonholonomic robot in a 2-dimensional polygonal workspace. First, we compute a smooth feedback law in the workspace without taking the nonholonomic constraints into account. We then give a general technique for using this to construct a new smooth feedback law over the entire 3-dimensional configuration space (consisting of position and orientation). The trajectories of the resulting feedback law will be smooth and will stabilize the position of the robot in the plane, neglecting the orientation. Our method is suitable for real time implementation and can be applied to dynamic environments.
引用
收藏
页码：2406 / +
页数：2
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