DocumentCode
2186491
Title
Path tracking control for Dubin´s cars
Author
Balluchi, A. ; Bicchi, A. ; Balestrino, A. ; Casalino, G.
Author_Institution
Dept. of Electr. Syst. & Autom., Pisa Univ., Italy
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3123
Abstract
The problem of driving a Dubin´s car (1957) along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin´s car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that achieves the goal of tracking an unknown path relying on measurements of the current distance from the path and of the heading angle error
Keywords
angular velocity control; automobiles; mobile robots; tracking; variable structure systems; Dubin´s cars; angular velocity; discontinuous control scheme; path tracking control; road-following problem; sliding modes; Bars; Current measurement; Error correction; Heuristic algorithms; Kinematics; Path planning; Road vehicles; Sliding mode control; Trajectory; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509187
Filename
509187
Link To Document