Dynamic path following: a new control algorithm for mobile robots

Author

Sarkar, Nilanjan ; Yun, Xiaoping ; Kumar, Vijay

Author_Institution

Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA

fYear

1993

fDate

15-17 Dec 1993

Firstpage

2670

Abstract

A new algorithm for the control of wheeled mobile robots called dynamic path following is presented. This algorithm regulates the motion of the mobile robots to desired geometric paths as opposed to desired trajectories which are given as time histories in conventional trajectory tracking algorithms. The desired trajectory for the dynamic path following algorithm is parameterized by a convenient geometrical parameter (e.g., arc length of the path). The algorithm is designed by using a nonlinear feedback for input-output linearization and decoupling. The performance of this new algorithm is compared with that of the trajectory tracking algorithm and is evaluated under different initial conditions as well as in the presence of various uncertainties using computer simulations

Keywords

feedback; linearisation techniques; mobile robots; nonlinear control systems; path planning; position control; tracking; decoupling; dynamic path following; geometric paths; initial conditions; input-output linearization; nonlinear feedback; wheeled mobile robots; Algorithm design and analysis; Computer simulation; Control systems; Equations; Feedback control; History; Mobile robots; Trajectory; Vehicle dynamics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-1298-8

Type

conf

DOI

10.1109/CDC.1993.325681

Filename

325681