Title :
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
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;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325681
