Analysis on Nonlinear Feedback Controls for Differential Mobile Robots and its Application to Multi-robot Formation Control - Part One

被引：0
|
作者：
Wan, Jie [1 ]
Chen, Peter [1 ]
机构：
[1] Natl Univ Singapore, Dept Mech Engn, Fac Engn, Singapore, Singapore
来源：
2008 10TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION: ICARV 2008, VOLS 1-4 | 2008年
关键词：
nonholonomic mobile robot; nonlinear feedback control; trajectory;
D O I：
10.1109/ICARCV.2008.4795696
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This is the first part of the whole paper and in this part, characteristics of two similar nonlinear feedback control laws of differential mobile robots were investigated in a comparative framework. First evolutions of robot's heading under those two controls are studied. Then uniqueness of robot's trajectory with respect to gain ratio and characteristics of trajectory curvature are revealed. For the first time, the concept of "critical gain ratio" is proposed. Simulation results are also presented.
引用
收藏
页码：1224 / 1229
页数：6
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