DocumentCode
2359886
Title
Robust path following of car-like WMR in the presence of skidding effects
Author
Low, Chang Boon ; Wang, Danwei
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
fYear
2005
fDate
10-12 July 2005
Firstpage
864
Lastpage
869
Abstract
In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results show good respond to the skidding effects.
Keywords
mobile robots; path planning; perturbation techniques; robot kinematics; robust control; backstepping-based robust path following controllers; car-like wheeled mobile robot; robust control techniques; skidding effects; Error correction; Kinematics; Mobile robots; Performance analysis; Robot control; Robust control; Robustness; Tires; Trajectory; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2005. ICM '05. IEEE International Conference on
Conference_Location
Taipei
Print_ISBN
0-7803-8998-0
Type
conf
DOI
10.1109/ICMECH.2005.1529375
Filename
1529375
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