Backward Path-following Control of Mobile Robots with Trailers

Author

Wei Huo ; Zuan Cheng

Author_Institution

Seventh Res. Div., Beijing Univ. of Aeronautica & Astronaut., China

fYear

2006

fDate

7-11 Aug. 2006

Firstpage

1573

Lastpage

1578

Abstract

The backward movement control for a mobile robot with n trailers to follow a given path is investigated in this paper. First, the iterative inverse velocity relationship for the robot-trailer system with off-axle hitching is derived. By the use of the control design scheme based on inverse velocity relationship and output-feedback linearization method, two backward path-following control laws are presented for different task requirements and the convergence of closed-loop systems is analyzed. Experiment result demonstrates effectiveness of the proposed method.

Keywords

closed loop systems; control system synthesis; feedback; linearisation techniques; mobile robots; motion control; path planning; backward movement control; backward path tracking; backward path-following control; closed-loop systems; iterative inverse velocity relationship; mobile robots; off-axle hitching; output-feedback linearization; robot-trailer system control; Argon; Control design; Control systems; Convergence; IEEE catalog; Mobile robots; Robot control; TV; Velocity control; backward path tracking; path-following control; robot-trailer system control; trailers with off-axle hitching;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2006. CCC 2006. Chinese

Conference_Location

Harbin

Print_ISBN

7-81077-802-1

Type

conf

DOI

10.1109/CHICC.2006.280758

Filename

4060353