Title :
Control of a car-like mobile robot for parking problem
Author :
Lee, Sungon ; Kim, MinChul ; Youm, Youngil ; Chung, Wankyun
Author_Institution :
Lab. of Robotics, Pohang Inst. of Sci. & Technol., South Korea
Abstract :
Deals with the parking problem of a car-like mobile robot. The parking problem corresponds to the point-stabilization problem of nonholonomic systems. We propose a simple and efficient algorithm for the problem with stability analysis. Using this algorithm, a car-like mobile robot could be controlled to move to a desired posture within a prescribed boundary. The performance is verified through simulations and experiments using a car-like mobile robot
Keywords :
control system synthesis; mobile robots; nonlinear control systems; position control; robot kinematics; stability; state feedback; car-like mobile robot; nonholonomic systems; parking problem; point-stabilization problem; stability analysis; Control systems; Feedback control; Kinematics; Mechanical engineering; Mobile robots; Open loop systems; Path planning; Robot control; Stability analysis; State feedback;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769891
