The search functionality is under construction.
The search functionality is under construction.

Tracking Control of Mobile Robots without Constraint on Velocities

Ching-Hung LEE, Ti-Chung LEE, Ching-Cheng TENG

  • Full Text Views

    0

  • Cite this

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

Authors

Keyword