DocumentCode
2106607
Title
Stable switching contour-following controller for wheeled mobile robots
Author
Toibero, Juan Marcos ; Carelli, Ricardo ; Kuchen, Benjamin
Author_Institution
Instituto de Autom., Universidad Nacional de San Juan
fYear
2006
fDate
15-19 May 2006
Firstpage
3724
Lastpage
3729
Abstract
In this paper a switching controller for mobile robots is presented that allows the contour-following of objects the size of which is at least comparable to that of the robot. The controller uses the information from distance sensors and is based on a wall-following controller described in the paper. The stability of the overall switching system is proved by using a common Lyapunov function. Experimental results in a Pioneer III unicycle-like mobile robot are provided to show the feasibility of the proposed control strategy
Keywords
Lyapunov methods; mobile robots; path planning; stability; time-varying systems; Lyapunov function; Pioneer III unicycle; distance sensors; stability; switching contour-following control; wall-following control; wheeled mobile robots; Automatic control; Communication switching; Communication system control; Control systems; Mobile robots; Robot control; Robot sensing systems; Size control; Stability analysis; Switching systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642271
Filename
1642271
Link To Document