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
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