Path-tracking for car-like robots with single and double steering

Author

Desantis, R.M.

Author_Institution

Ecole Polytech., Montreal, Que., Canada

Volume

44

Issue

2

fYear

1995

fDate

5/1/1995 12:00:00 AM

Firstpage

366

Lastpage

377

Abstract

A procedure for the design of path-tracking controllers for car-like robots is proposed which is based on a formalization of the notion of path-tracking that is traditional in automotive applications. The advantage of this procedure over current methods is that it is applicable to a larger class of vehicles (car-like robots with single or double steering), to more general paths (in particular, circular paths), and to a tracking velocity that is not necessarily constant. When the path is a straight line or a circular arc, the tracking offsets are small and the assigned velocity is constant, then the proposed procedure leads to a controller with a linear, time-invariant, and decoupled PID (proportional, integral, and derivative) structure

Keywords

control systems; mobile robots; motion control; position control; robot dynamics; three-term control; tracking; transport control; assigned velocity; car-like robots; circular paths; double steering; linear time-invariant decoupled PID structure; path-tracking controllers; proportional integral derivative structure; propulsion control; single steering; steering control; straight line; tracking offsets; tracking velocity; Axles; Feedback; PD control; Proportional control; Propulsion; Robot kinematics; Tires; Vectors; Vehicle dynamics; Velocity control;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/25.385930

Filename

385930