Title :
A practical approach to feedback control for a mobile robot with trailer
Author :
Lamiraux, F. ; Laumond, J.P.
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
This paper presents a robust method to control a mobile robot towing a trailer. Both problems of trajectory tracking and steering to a given configuration are addressed. This second issue is solved by an iterative trajectory tracking. Perturbations are taken into account along the motions. Experimental results on the mobile robot Hilare illustrate the validity of our approach
Keywords :
feedback; iterative methods; mobile robots; motion control; path planning; position control; robust control; tracking; Hilare mobile robot; feedback control; iterative method; motion planning; perturbations; position control; stability; steering; trailer towing; trajectory tracking; Control systems; Feedback control; Mobile robots; Motion control; Robot control; Robot sensing systems; Robust control; Robust stability; Trajectory; Wheels;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680946
