Title :
Recursive convex replanning for the trajectory tracking of wheeled mobile robots
Author :
Argenti, Mauro ; Consolini, Luca ; Lini, Gabriele ; Piazzi, Aurelio
Author_Institution :
Dipt. di Ing. dell´´Inf., Univ. of Parma, Parma, Italy
Abstract :
The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to maintain its efficacy also in presence of noise or unmodeled robot dynamics. Explicit, sufficient conditions are provided to ensure global boundedness of the tracking error. Experimental results are presented using Lego Mindstorm mobile robots.
Keywords :
feedforward; mobile robots; robot dynamics; state feedback; wheels; Cartesian trajectory tracking; Lego Mindstorm mobile robots; feedforward inverse control; hybrid control scheme; recursive convex replanning; state feedback; unicycle model; unmodeled robot dynamics; wheeled mobile robots; Automatic control; Laser feedback; Mobile robots; Motion control; Robot vision systems; Robotics and automation; State feedback; Sufficient conditions; Trajectory; USA Councils;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509886