user

Recursive convex replanning for the trajectory tracking of wheeled mobile robots

被引：3
|
作者：
Argenti, Mauro [1 ]
Consolini, Luca [1 ]
Lini, Gabriele [1 ]
Piazzi, Aurelio [1 ]
机构：
[1] Univ Parma, Dipartimento Ingn Informaz, I-43100 Parma, Italy
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
NONHOLONOMIC SYSTEMS; CHAINED-FORM; GENERATION;
D O I：
10.1109/ROBOT.2010.5509886
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedaback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to maintain its efficacy also in presence of noise or unmodeled robot dynamics. Explicit, sufficient conditions are provided to ensure global boundedness of the tracking error. Experimental results are presented using Lego Mindstorm mobile robots.
引用
收藏
页码：4916 / 4921
页数：6
相关论文
共 50 条
  • [1] Modelling and trajectory tracking of wheeled mobile robots
    Leena, N.
    Saju, K. K.
    [J]. INTERNATIONAL CONFERENCE ON EMERGING TRENDS IN ENGINEERING, SCIENCE AND TECHNOLOGY (ICETEST - 2015), 2016, 24 : 538 - 545
  • [2] Fast trajectory tracking of wheeled mobile robots
    Ni, Hongjie
    Wang, Hongxia
    Yu, Li
    [J]. Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2020, 52 (10): : 167 - 174
  • [3] Discrete trajectory tracking control of wheeled mobile robots
    Tang, SB
    Zhuang, Y
    Liu, L
    Wang, W
    [J]. IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2004, : 344 - 349
  • [4] An Adaptive Trajectory Tracking Control of Wheeled Mobile Robots
    Wang, Jianhua
    Lu, Zhanggang
    Chen, Weihai
    Wu, Xingming
    [J]. 2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2011, : 1156 - 1160
  • [5] Trajectory Tracking Task in Wheeled Mobile Robots: A Review
    Sosa-Cervantes, C. Y.
    Silva-Ortigoza, R.
    Marquez-Sanchez, C.
    Taud, H.
    Saldana-Gonzalez, G.
    [J]. 2014 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE), 2014, : 110 - 115
  • [6] Trajectory Tracking Control of Wheeled Mobile Robots Using Backstepping
    Wang, Sunxin
    Bao, Xuefeng
    Zhang, Shaohua
    Shen, Gaopan
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT V, 2019, 11744 : 289 - 300
  • [7] Coordinated Trajectory Tracking for A Group of Mixed Wheeled Mobile Robots
    Adinandra, Sisdarmanto
    Ratnawati, Dwi Ana
    [J]. 2015 4TH INTERNATIONAL CONFERENCE ON INSTRUMENTATION, COMMUNICATIONS, INFORMATION TECHNOLOGY, AND BIOMEDICAL ENGINEERING (ICICI-BME), 2015, : 288 - 293
  • [8] A Comparison of Adaptive Trajectory Tracking Controllers for Wheeled Mobile Robots
    Al Khatib, Ehab I.
    Al-Masri, Wasim M. F.
    Mukhopadhyay, Shayok
    Jaradat, Mohammad A.
    Abdel-Hafez, Mamoun
    [J]. 2015 10TH INTERNATIONAL SYMPOSIUM ON MECHATRONICS AND ITS APPLICATIONS (ISMA), 2015,
  • [9] Hybrid Visual Servo Trajectory Tracking of Wheeled Mobile Robots
    Yan, Fanlei
    Li, Baoquan
    Shi, Wuxi
    Wang, Dongwei
    [J]. IEEE ACCESS, 2018, 6 : 24291 - 24298
  • [10] Analysis of Trajectory Tracking Control Algorithms for Wheeled Mobile Robots
    Hassan, Najva
    Saleem, Abdul
    [J]. IEACON 2021: 2021 IEEE INDUSTRIAL ELECTRONICS AND APPLICATIONS CONFERENCE (IEACON), 2021, : 236 - 241
12345