Title :
Experimental Results for a Nonholonomic Mobile Robot Controller Enforcing Linear Equivalence Asymptotically
Author :
Buccieri, D. ; Perritaz, D. ; Mullhaupt, Ph ; Jiang, Z.-P. ; Bonvin, D.
Author_Institution :
Laboratoire d´´Automatique, Ecole Polytech. Fed. de Lausanne
Abstract :
A novel control methodology for a nonholonomic mobile robot is proposed. The methodology uses a two-dimensional state extension and enforces linear equivalence asymptotically. The originality lies in the treatment of singularity. Real-time experiments carried on an autonomous mobile robot called Fouzy III illustrates and justifies the approach
Keywords :
mobile robots; position control; Fouzy III; autonomous mobile robot; linear equivalence; nonholonomic mobile robot controller; two-dimensional state extension; Asymptotic stability; Centralized control; Control systems; Convergence; Linear feedback control systems; Mobile robots; Robot control; Robot kinematics; Time factors; Trajectory;
Conference_Titel :
Industrial Electronics and Applications, 2006 1ST IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9513-1
Electronic_ISBN :
0-7803-9514-X
DOI :
10.1109/ICIEA.2006.257233
