Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a C...

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Veröffentlicht in:IEEE transactions on robotics 2015-04, Vol.31 (2), p.269-279
Hauptverfasser: Akhtar, Adeel, Nielsen, Christopher, Waslander, Steven L.
Format: Artikel
Sprache:eng
Schlagworte:
Approximation methods
Closed loop systems
Control design
Control systems
Controllers
Dynamical systems
Dynamics
Feedback linearization
Invariants
Kinematics
Manifolds
mobile robots
motion control
nonlinear control systems
nonlinear dynamical systems
nonlinear systems
Polynomials
robot control
Robot kinematics
Robotics
Robots
Steering
Vectors
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Beschreibung
Zusammenfassung:This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2015.2395711