IEICE TRANSACTIONS on Fundamentals
Tracking Control of Mobile Robots without Constraint on Velocities
Summary :
A general tracking control problem for mobile robots is proposed and solved using the backstepping technique. A global result is given for the kinematic steering system to make the tracking error approaching to zero asymptotically. Based on our efforts, the proposed controller can solve both the tracking problem and the regulation problem of mobile robots. In particular, mobile robots can now globally follow any differentiable with bounded velocities path such as a straight line, a circle and the path approaching to the origin using the proposed controller. Moreover, the problem of back-into-garage parking is also solved by our approach. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control laws.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E84-A No.9 pp.2280-2287
- Publication Date
- 2001/09/01
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- PAPER
- Category
- Systems and Control
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Ching-Hung LEE, Ti-Chung LEE, Ching-Cheng TENG, "Tracking Control of Mobile Robots without Constraint on Velocities" in IEICE TRANSACTIONS on Fundamentals,
vol. E84-A, no. 9, pp. 2280-2287, September 2001, doi: .
Abstract: A general tracking control problem for mobile robots is proposed and solved using the backstepping technique. A global result is given for the kinematic steering system to make the tracking error approaching to zero asymptotically. Based on our efforts, the proposed controller can solve both the tracking problem and the regulation problem of mobile robots. In particular, mobile robots can now globally follow any differentiable with bounded velocities path such as a straight line, a circle and the path approaching to the origin using the proposed controller. Moreover, the problem of back-into-garage parking is also solved by our approach. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control laws.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e84-a_9_2280/_p
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@ARTICLE{e84-a_9_2280,
author={Ching-Hung LEE, Ti-Chung LEE, Ching-Cheng TENG, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Tracking Control of Mobile Robots without Constraint on Velocities},
year={2001},
volume={E84-A},
number={9},
pages={2280-2287},
abstract={A general tracking control problem for mobile robots is proposed and solved using the backstepping technique. A global result is given for the kinematic steering system to make the tracking error approaching to zero asymptotically. Based on our efforts, the proposed controller can solve both the tracking problem and the regulation problem of mobile robots. In particular, mobile robots can now globally follow any differentiable with bounded velocities path such as a straight line, a circle and the path approaching to the origin using the proposed controller. Moreover, the problem of back-into-garage parking is also solved by our approach. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control laws.},
keywords={},
doi={},
ISSN={},
month={September},}
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TY - JOUR
TI - Tracking Control of Mobile Robots without Constraint on Velocities
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 2280
EP - 2287
AU - Ching-Hung LEE
AU - Ti-Chung LEE
AU - Ching-Cheng TENG
PY - 2001
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E84-A
IS - 9
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - September 2001
AB - A general tracking control problem for mobile robots is proposed and solved using the backstepping technique. A global result is given for the kinematic steering system to make the tracking error approaching to zero asymptotically. Based on our efforts, the proposed controller can solve both the tracking problem and the regulation problem of mobile robots. In particular, mobile robots can now globally follow any differentiable with bounded velocities path such as a straight line, a circle and the path approaching to the origin using the proposed controller. Moreover, the problem of back-into-garage parking is also solved by our approach. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control laws.
ER -
English
