Formation control for car-like mobile robots using front-wheel driving and steering

被引：11
|
作者：
Chen, Haojie [1 ]
Yang, Hong'an [1 ]
Wang, Xu [1 ]
Zhang, Ting [2 ]
机构：
[1] Northwestern Polytech Univ, Sch Mech Engn, Xian 710072, Shaanxi, Peoples R China
[2] Hytera Commun Corp Ltd, Shenzhen, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2018年 / 15卷 / 03期
关键词：
Formation control; trajectory tracking; car-like robot; front-wheel driving and steering; chained form system; backstepping; TRACKING CONTROL; CHAINED-FORM; SYSTEMS;
D O I：
10.1177/1729881418778228
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
To solve the problem of front wheels being jammed due to the passive trajectory tracking of the conventional car-like robot in the leader-follower formation control, we propose a novel car-like robot with the integration of front-wheel driving and steering. We establish its kinematic model, then analyze its controllability via the method of chained form system, and design the trajectory-tracking controller via the backstepping method. Simulations and experimental results validate our algorithm. This novel car-like robot with the integration of front-wheel driving and steering system not only avoids the jamming in the formation motion, but also owes the advantages of compacter structure, lighter body, and lower energy consumption.
引用
收藏
页数：10
相关论文
共 50 条
  • [21] Vision-Based State Estimation and Trajectory Tracking Control of Car-Like Mobile Robots with Wheel Skidding and Slipping
    Zhou, Shunbo
    Miao, Zhiqiang
    Liu, Zhe
    Zhao, Hongchao
    Wang, Hesheng
    Chen, Haoyao
    Liu, Yun-Hui
    2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 4270 - 4275
  • [22] Comparative analysis of two steering modes using a car-like mobile robot
    Diaz-Hernandez, Octavio
    Rodriguez-Huitron, Samuel
    2019 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE 2019), 2019, : 114 - 118
  • [23] Integrated control of front-wheel steering and front braking forces on the basis of fuzzy logic
    Boada, MJL
    Boada, BL
    Muñoz, A
    Díaz, V
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2006, 220 (D3) : 253 - 267
  • [24] PATH-TRACKING FOR CAR-LIKE ROBOTS WITH SINGLE AND DOUBLE STEERING
    DESANTIS, RM
    IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 1995, 44 (02) : 366 - 377
  • [25] Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving
    Zhou, Jie
    Zhao, Can
    Chen, Yunpei
    Shi, Kaibo
    Chen, Eryang
    Luo, Ziqi
    DRONES, 2024, 8 (10)
  • [26] Path planning for nonholonomic car-like mobile robots using genetic algorithms
    Cheng, Weiming
    Tang, Zhenmin
    Zhao, Chunxia
    Tang, Lei
    Guo, Zhibo
    2006 8TH INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING, VOLS 1-4, 2006, : 3183 - +
  • [27] Feedback control framework for car-like robots using the unicycle controllers
    Michalek, Maciej
    Kozlowski, Krzysztof
    ROBOTICA, 2012, 30 : 517 - 535
  • [28] An Autonomous Parallel Parking Algorithm for Car-like Mobile Robots
    Vieira, Renan Porto
    Argento, Eduardo Veras
    Revoredo, Teo Cerqueira
    JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, 2022, 33 (06) : 1762 - 1772
  • [29] Kinodynamic Trajectory Optimization and Control for Car-Like Robots
    Roesmann, Christoph
    Hoffmann, Frank
    Bertram, Torsten
    2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017, : 5681 - 5686
  • [30] An Autonomous Parallel Parking Algorithm for Car-like Mobile Robots
    Renan Porto Vieira
    Eduardo Véras Argento
    Téo Cerqueira Revoredo
    Journal of Control, Automation and Electrical Systems, 2022, 33 : 1762 - 1772
12345