Title :
Feedback Stabilization of Nonholonomic Mobile Robots with Obstacle Avoidance
Author :
Xie Xiaoli ; Yang Tiantian ; Liu Zhiyuan
Author_Institution :
Dept. of Control Sci. & Eng., Harbin Inst. of Technol., China
Abstract :
This paper deals with the nonlinear feedback stabilization control problem for the dynamic model of wheeled mobile robots (WMRs) which moves in a two-dimensional space existed obstacles. By the combination of CLF and backstepping methods, a nonlinear feedback state control law is obtained. The simulation demonstrates the validity of the proposed controllers.
Keywords :
collision avoidance; mobile robots; nonlinear control systems; robot dynamics; stability; state feedback; dynamic model; nonholonomic control system; nonholonomic mobile robots; nonlinear feedback stabilization control problem; nonlinear feedback state control law; obstacle avoidance; wheeled mobile robots; Backstepping; Control system synthesis; Electronic mail; IEEE catalog; Mobile robots; Nonlinear dynamical systems; Space technology; State feedback; TV; dynamic model; feedback stabilization controller; nonholonomic control system; obstacle avoidance;
Conference_Titel :
Control Conference, 2006. CCC 2006. Chinese
Conference_Location :
Harbin
Print_ISBN :
7-81077-802-1
DOI :
10.1109/CHICC.2006.280787
