Nonlinear Boundary Tracking Control for Mobile Robot
In this paper, we consider the environmental boundary tracking problem where the objective is to steering a nonholonomic mobile robot to track the desired environmental boundary. Based on kinematic model of the mobile robot, we design a kinematic control law for the robot to track the desired boundary. Kinematic control law needs perfect velocity tracking, which doesn’t always hold for mobile robot. So, dynamic control law is designed for the nonholonomic mobile robot to track a designated reference velocity, so as to track the desired environmental boundary. The stability of the designed control laws is verified by Lyapunov theory and Barbalat’s Lemma and illustrated by simulation results.
tracking control nonlinear control mobile robot
Tairen Sun Liangliang Li Yuebang He
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212031, P. R. China School of Computational Science, Zhongkai University of Agriculture and Engineering, Guangzhou 51022 Key Laboratory of Autonomous Systems and Networked Control, Ministry of Eduction, South China Univer
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4792-4797
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）