DocumentCode
2030107
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
Volume
4
fYear
1998
fDate
16-20 May 1998
Firstpage
3291
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680946
Filename
680946
Link To Document