Control of a car-like mobile robot for parking problem

Deals with the parking problem of a car-like mobile robot. The parking problem corresponds to the point-stabilization problem of nonholonomic systems. We propose a simple and efficient algorithm for the problem with stability analysis. Using this algorithm, a car-like mobile robot could be controlle...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 1; pp. 1 - 6 vol.1
Main Authors Lee, Sungon, Kim, Minchul, Youm, Youngil, Chung, Wankyun
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 1999
Subjects
Control systems
Feedback control
Kinematics
Mechanical engineering
Mobile robots
Open loop systems
Path planning
Robot control
Stability analysis
State feedback
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Summary:Deals with the parking problem of a car-like mobile robot. The parking problem corresponds to the point-stabilization problem of nonholonomic systems. We propose a simple and efficient algorithm for the problem with stability analysis. Using this algorithm, a car-like mobile robot could be controlled to move to a desired posture within a prescribed boundary. The performance is verified through simulations and experiments using a car-like mobile robot.
Bibliography:SourceType-Scholarly Journals-2
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ObjectType-Conference Paper-1
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SourceType-Conference Papers & Proceedings-1
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ISBN:9780780351806
0780351800
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.769891