Title :
Backstepping design for path tracking of mobile robots
Author :
Wu Weiguo ; Chen, Huitang ; Wang, Yuejuan
Author_Institution :
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
Abstract :
From the practical engineering point of view, path tracking control for mobile robots has been investigated. It comes from planning trajectory with the planned geometric path and enables direct tracking of the geometric path. The kinematic model of mobile robots and the desired path are described in polar coordinates. The influence on control performance resulting from the factitious choice of desired reference points is eliminated by considering the polar angle as a parameter. The controller is designed based on a backstepping method, which is systematic and flexible. The convergence of the system is throughout the design procedure. Simulation results are given to verify the proposed control laws
Keywords :
mobile robots; path planning; position control; robot kinematics; tracking; backstepping design; backstepping method; control laws; control performance; design procedure; direct tracking; kinematic model; mobile robots; path tracking control; planned geometric path; planning trajectory; polar angle; polar coordinates; reference points; Backstepping; Clocks; Control systems; Convergence; Kinematics; Linear feedback control systems; Mobile robots; Path planning; Robot control; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.811743
