Kinematic path-following control of a mobile robot under bounded angular velocity error

Authors: Seo, Keehong; Lee, Jin S.

Source: Advanced Robotics, Volume 20, Number 1, 2006 , pp. 1-23(23)

Buy & download fulltext article:

Price: $35.00 plus tax (Refund Policy)

Abstract:

This paper proposes a robust path-following control method of a kinematic mobile robot system subject to bounded angular velocity error. The angular velocity error usually arises from imperfect performance of the dynamic control system. Given a kinematic model of the mobile robot system with bounded angular velocity error, we present a stable and robust path-following controller which is based on the sliding mode control technique and prove that the path-following errors (the lateral distance and orientation error) are ultimately bounded. In addition, the safety margin of the lateral distance error is defined, which is useful for higher-level path-planning tasks. The feasibility of the proposed controller has been demonstrated through simulation tests.

Keywords: WHEELED MOBILE ROBOTS; PATH FOLLOWING; NON-HOLONOMIC CONSTRAINTS; SLIDING MODE CONTROL; ROBUST CONTROL

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855306775275512

Publication date: 2006-01-01