Global path-following control for nonholonomic mobile robots

被引：0
|
作者：
Zheng, Ze-Wei [1 ]
Huo, Wei [2 ]
Zhu, Bing [2 ]
机构：
[1] Science and Technology on Aircraft Control Laboratory, School of Aeronautical Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
[2] Science and Technology on Aircraft Control Laboratory, The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2012年 / 29卷 / 06期
关键词：
Closed loop systems - Controllers;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A novel global path-following controller for a nonholonomic mobile robot is proposed based on the guidancebased path-following principle. Tracking errors between the real and desired positions are calculated in the path reference frame; the desired attitude and the updating law for the path parameters are deduced according to the guidance principles, the angular velocity and the control laws are determined from the obtained results. We also develop the method for calculating the reference point for the initial path, and investigate the path-following direction and the method of its reversion. The stability analysis shows that this scheme is free from control singular points, and the closed-loop system achieves the global, uniform and asymptotic convergence. Experimental results from a mobile robot are presented to validate the effectiveness of proposed controller.
引用
收藏
页码：741 / 746
相关论文
共 50 条
  • [31] Formation control of nonholonomic mobile robots
    Dong, W. J.
    Guo, Yi
    Farrell, J. A.
    2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 507 - COVER3
  • [32] On the global dynamics of path-following control of automated passenger vehicles
    Voros, Illes
    Orosz, Gabor
    Takacs, Denes
    NONLINEAR DYNAMICS, 2023, 111 (09) : 8235 - 8252
  • [33] Path-following control of Mecanum-wheels omnidirectional mobile robots using nonsingular terminal sliding mode
    Sun, Zhe
    Xie, Hao
    Zheng, Jinchuan
    Man, Zhihong
    He, Defeng
    MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2021, 147
  • [34] CONTROL OF CHAINED SYSTEMS APPLICATION TO PATH-FOLLOWING AND TIME-VARYING POINT-STABILIZATION OF MOBILE ROBOTS
    SAMSON, C
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (01) : 64 - 77
  • [35] On the global dynamics of path-following control of automated passenger vehicles
    Illés Vörös
    Gábor Orosz
    Dénes Takács
    Nonlinear Dynamics, 2023, 111 : 8235 - 8252
  • [36] Global Path Planning and Path-Following for Wheeled Mobile Robot Using a Novel Control Structure Based on a Vision Sensor
    Mahmut Dirik
    Adnan Fatih Kocamaz
    Oscar Castillo
    International Journal of Fuzzy Systems, 2020, 22 : 1880 - 1891
  • [37] Global Path Planning and Path-Following for Wheeled Mobile Robot Using a Novel Control Structure Based on a Vision Sensor
    Dirik, Mahmut
    Kocamaz, Adnan Fatih
    Castillo, Oscar
    INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2020, 22 (06) : 1880 - 1891
  • [38] A unified controller for both trajectory-tracking and path-following of uncertain mobile robots
    Li Shao-jun
    Ma Bao-li
    PROCEEDINGS OF 2005 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1 AND 2, 2005, : 2054 - +
  • [39] A fuzzy control system for path following of mobile robots
    Cheng, Yuhu
    Wang, Xuesong
    Lei, Ruhai
    ICIC Express Letters, 2009, 3 (03): : 403 - 408
  • [40] Path following: Discrete stable control of mobile robots
    Secchi, Humberto A.
    Mut, Vicente A.
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 2144 - 2149
12345