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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