Nonsingular path following control of a unicycle in the presence of parametric modelling uncertainties

Lapierre, Lionel; Soetanto, D.; Pascoal, António

doi:10.1002/rnc.1075

Cited by 75 publications

(80 citation statements)

References 11 publications

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“…Many researches consider the wheeled mobile robot control problems such as motion and path planning [3][4][5][6]. There are many fruitful results in these topics that are applied to different kinds of robots.…”

Section: Introductionmentioning

confidence: 99%

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The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

Andreev¹,

Kim²

2017

DAAAM Proceedings

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This paper presents a novel method for motion realization of differential drive mobile robot along a complex trajectory using two-dimensional vector fields (artificial forces). The method allows robot to move along trajectories that similar to B-splines without their preparatory computation. This is performed by using the given sequence of points (intermediate goal points) and manipulation of vector fields that defined by Gaussian functions. The feature of the method realization is as follows in its application in the transport module of a heterogeneous modular mobile robot which modules are functionally complete electronic or mechatronic devices. A functional completeness in this case means that every module must perform the function that built in its engineering implementation and control system by itself. The transport module realizes its functions upon receipt control goals (parameters of position vector) from module-supervisor that is part of modular mobile robot. In this case the transport module computes motion trajectory independently. Therefore a method of information interaction between the transport module and a module-supervisor is considered in this paper. The transport module performance under control of a module-supervisor is viewed by the example of mobile robotics typical tasks: motion in a known and unknown environment.

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Section: Introductionmentioning

confidence: 99%

“…There are many fruitful results in these topics that are applied to different kinds of robots. One of the most challenging problems is a trajectory planning of mobile robot and path following [5][6]. In the most cases robot controllers for trajectory or path following guarantee the minimal tracking errors.…”

Section: Introductionmentioning

confidence: 99%

The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

Andreev¹,

Kim²

2017

DAAAM Proceedings

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“…Hereafter, by saying about the nominal control applied into kinematics (1) we will understand the substitution u := u n u VFO (13) with u VFO defined by Eq. 12.…”

Section: General Form Of the Vfo Control Lawmentioning

confidence: 99%

VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Michałek

Gawron

2017

J Intell Robot Syst

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TheVector-Field-Orientation (VFO) method is a control design concept which was originally introduced for the unicycle kinematics to solve two classical control tasks corresponding to the trajectory tracking and set-point control problems. A unified solution to both the tasks was possible by appropriate definitions of the so-called convergence vector field. So far, there has not been a version of the VFO control law for the third classical control task concerning the path following problem, which is particularly meaningful in the context of practical applications. The paper fills this gap by presenting a novel VFO path following controller devised for robots of unicycle-like kinematics with the amplitudelimited control input. Opposite to most path following controllers proposed in the literature, the new control law utilizes the recently introduced level curve approach which does not employ any parametrization of a reference path. In this way, the proposed solution

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“…This implies that the initial position error of the vehicle in relation to the path, would have to be smaller than the smallest radius of curvature present in the path. The current work follows the approach taken in [10] for wheeled mobile robots and in [17] for underwater vehicles, which starting from the grounds established in [9], lifts the initial condition constraint entirely, by attaching {F} to a virtual moving target along the path. This introduces an extra degree of freedom at the controller design stage.…”

Section: B Error Coordinatesmentioning

confidence: 99%

“…To solve the path following problem for unicycles, in [9], [10] are employed nonlinear control techniques, either in the form of Lyapunov based methods or through feedback linearization. Noticeable performance results and proof of stability in relation to a feasible path are detailed.…”

Section: Introductionmentioning

confidence: 99%

Four path following controllers for rhombic like vehicles

Silva¹,

Baglivo

Vale³

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (two drivable and steerable wheels) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration; the fourth is a nonlinear controller built upon a kinematic model of the vehicle using Lyapunov functions. By fully exploiting the kinematic capabilities of this type of vehicles, all the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. Simulated and experimental results are presented in the paper to illustrate the performance of the controllers. The main conclusions of these controllers are summarized, leading to a possible application in the vehicles that will operate in the remote handling missions of the International Thermonuclear Experimental Reactor (ITER).

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Nonsingular path following control of a unicycle in the presence of parametric modelling uncertainties

Cited by 75 publications

References 11 publications

The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Four path following controllers for rhombic like vehicles

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