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A Look-Ahead Approach to Mobile Robot Path Tracking Based on Distance-Only Measurements.
- Source :
- AIP Conference Proceedings; 2019, Vol. 2172 Issue 1, p110005-1-110005-8, 8p, 1 Diagram, 3 Graphs
- Publication Year :
- 2019
-
Abstract
- In this paper, a path tracking controller based on distance-only measurements for nonholonomic mobile robots is presented. First, a kinematic model of the robot appropriate for path tracking applications is derived. Using a look-ahead approach, a time-varying feedback controller is proposed. The stabilities properties of the closed-loop system are analyzed in case of circular and straight-line path tracking using the theory of Lyapunov, and asymptotic stability is proved. In particular, for straight-line tracking, the steady-state error is shown to be equal to zero. Numerical simulations and experiments are carried in order to validate the proposed feedback path tracking control. [ABSTRACT FROM AUTHOR]
- Subjects :
- MOBILE robots
CLOSED loop systems
COMPUTER simulation
Subjects
Details
- Language :
- English
- ISSN :
- 0094243X
- Volume :
- 2172
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- AIP Conference Proceedings
- Publication Type :
- Conference
- Accession number :
- 139667811
- Full Text :
- https://doi.org/10.1063/1.5133608