Title :
Path Following of Mobile Robots Using a Virtual Vehicle Approach
Author :
Han Da-peng ; Wei Qing ; Li Ze-xiang
Author_Institution :
Sch. of Mechtronic Eng. & Autom., National Univ. of Defense Technol., ChangSha, China
Abstract :
Path following, one of the motion control problems of mobile robots is a problem not adequately studied. In this paper, a new framework to solve path following is established. Firstly, path following is given a new formulation, considering geometry constraints of planar curves. Secondly, the notion of virtual vehicle is applied, making exact linearization realizable. A control law with simple form is deduced, which is proved to be applicable by simulation results.
Keywords :
mobile robots; motion control; path planning; position control; exact linearization; geometry constraints; mobile robots; motion control problems; path following; planar curves; virtual vehicle approach; Automotive engineering; Computational geometry; Mobile robots; Motion control; Motion planning; Nonlinear systems; Robot sensing systems; Robotics and automation; Trajectory; Vehicle dynamics; Exact Linearization; Mobile robots; Path Following;
Conference_Titel :
Control Conference, 2006. CCC 2006. Chinese
Conference_Location :
Harbin
Print_ISBN :
7-81077-802-1
DOI :
10.1109/CHICC.2006.280749
