Path following control of mobile robot with trailers

被引：0

作者：

Guo Li-li ^{[1
]}

Huo Wei ^{[1
]}

机构：

[1] Beihang Univ, Res Div 7, Beijing 100083, Peoples R China

来源：

PROCEEDINGS OF 2005 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1 AND 2 | 2005年

关键词：

mobile robot; trailers; path following; nonholonomic constraints;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A globally asymptotically stable path following control law, for the mobile robot with off-axle hitching trailers is presented. The kinematic equations of the mobile robot system with nonholonomic constraints are derived. The following error model of each vehicle is expressed in the moving Frenet frames. Based on the model output feedback path following control law is designed and feasible algorithm is given. Simulation results show the effectiveness of the proposed method.

引用

页码：2003 / 2006

页数：4

共 6 条

[1] Altafini C, 1998, IEEE DECIS CONTR P, P3123, DOI 10.1109/CDC.1998.757988
[2] Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: A Lyapunov-based approach
Astolfi, A
Bolzern, P
Locatelli, A
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (01): : 154 - 160
[3] DECANUDAS WC, 1997, THEORY ROBOT CONTROL
[4] Hashizume T, 1997, IEEE IND ELEC, P1269, DOI 10.1109/IECON.1997.668493
[5] MYOUNGKUK P, 2004, P 2004 IEEE INT C RO, V5, P4369
[6] Sampei M., 1991, Proceedings IROS '91. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mechanical Systems (Cat. No.91TH0375-6), P193, DOI 10.1109/IROS.1991.174448

← 1 →