Title :
Path tracking control for Dubin´s cars
Author :
Balluchi, A. ; Bicchi, A. ; Balestrino, A. ; Casalino, G.
Author_Institution :
Dept. of Electr. Syst. & Autom., Pisa Univ., Italy
Abstract :
The problem of driving a Dubin´s car (1957) along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin´s car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that achieves the goal of tracking an unknown path relying on measurements of the current distance from the path and of the heading angle error
Keywords :
angular velocity control; automobiles; mobile robots; tracking; variable structure systems; Dubin´s cars; angular velocity; discontinuous control scheme; path tracking control; road-following problem; sliding modes; Bars; Current measurement; Error correction; Heuristic algorithms; Kinematics; Path planning; Road vehicles; Sliding mode control; Trajectory; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509187
