DocumentCode
2860531
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
fYear
2006
fDate
24-26 May 2006
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICIEA.2006.257233
Filename
4025834
Link To Document