𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Asymptotic control for wheeled mobile robots with driftless constraints

✍ Scribed by Hyun-Sik Shim; Yoon-Gyeoung Sung

Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
197 KB
Volume
43
Category
Article
ISSN
0921-8890

No coin nor oath required. For personal study only.

✦ Synopsis

In this paper, an asymptotic control with driftless constraints is proposed for wheeled mobile robots based on empirical practice. The equations of motion of a designed mobile robot are derived. In order to obtain the desired performance for high velocity and consecutive motions, the motion requirements are defined and then an asymptotic control is developed by using the kinematic equations of the wheeled mobile robot. The convergence of the asymptotic control is presented by using Lyapunov stability theory. Even if a nonideal velocity controller is employed for driving wheels, it is shown that the numerical performance of the asymptotic control is effective and robustness with the appropriate selection of control parameters.

πŸ“œ SIMILAR VOLUMES

Leader–follower formation control of non
Leader–follower formation control of nonholonomic mobile robots with input constraints
✍ Luca Consolini; Fabio Morbidi; Domenico Prattichizzo; Mario Tosques πŸ“‚ Article πŸ“… 2008 πŸ› Elsevier Science 🌐 English βš– 728 KB

The paper deals with leader-follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots' control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible pos

A control strategy for platoons of diffe
A control strategy for platoons of differential drive wheeled mobile robot
✍ Gregor Klančar; Drago Matko; SaΕ‘o BlaΕΎič πŸ“‚ Article πŸ“… 2011 πŸ› Elsevier Science 🌐 English βš– 708 KB

The strategy for the control of vehicle platooning is proposed and tested on different mobile robot platforms. The decentralized platooning is considered, i.e. a virtual train of vehicles where each vehicle is autonomous and decides on its motion based on its own perceptions. The following vehicle o

Visual dead-reckoning for motion control
Visual dead-reckoning for motion control of a Mecanum-wheeled mobile robot
✍ J.A Cooney; W.L Xu; G Bright πŸ“‚ Article πŸ“… 2004 πŸ› Elsevier Science 🌐 English βš– 344 KB

Given an omni-directional mobile platform using four Mecanum wheels requires further a capability to be programmed to achieve various motion behaviours and intelligence. This paper describes an undergraduate solution to the problem involving both hardware and software developments. With a path follo