Path-following control of a mobile robot in the presence of actuator constraints
Authors: Wada, Nobutaka1; Tagami, Shingo1; Saeki, Masami1
Source: Advanced Robotics, Volume 21, Numbers 5-6, 2007 , pp. 645-659(15)
Publisher: VSP, an imprint of Brill
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Abstract:
In this paper, we present a control law for a non-holonomic mobile robot that achieves path following. In the path-following problem, the objective is to control the angular velocity of the robot so that the robot tracks a given reference trajectory. In this paper, we propose a control law that achieves path following in the presence of a constraint on the angular velocity. By applying the proposed control law, the robot can track the reference trajectory even if the distance from the initial position of the robot and the reference trajectory is arbitrary large. Further, we extend the control law so that the linear velocity of the robot becomes small when the robot passes through corners. By using the control algorithm, we can prevent the angular velocity of the robot becoming extremely large when the robot passes through corners. Numerical examples are provided to illustrate the effectiveness of the proposed methods.Keywords: MOBILE ROBOT; PATH FOLLOWING; ACTUATOR CONSTRAINT; MULTI-LEVEL SATURATION
Document Type: Research article
DOI: 10.1163/156855307780108240
Affiliations: 1: Department of Mechanical System Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
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