Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Author

Akhtar, Adeel ; Nielsen, Christopher ; Waslander, Steven L.

Author_Institution

Dept. of Mech. & Mechatron. Eng., Univ. of Waterloo, Waterloo, ON, Canada

Volume

31

Issue

2

fYear

2015

fDate

Apr-15

Firstpage

269

Lastpage

279

Abstract

This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.

Keywords

closed loop systems; control system synthesis; feedback; mobile robots; path planning; robot kinematics; Chameleon R100 Ackermann steering robot; car-like mobile robots; closed-loop system; dynamic extension; dynamic transverse feedback linearization; kinematic model; path following; path-following controller design; Approximation methods; Kinematics; Manifolds; Polynomials; Robot kinematics; Vectors; Control design; mobile robots; motion control; nonlinear control systems; nonlinear dynamical systems; nonlinear systems; robot control;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2015.2395711

Filename

7042843