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

页数：10

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