Control of car-like mobile robots for posture stabilization

Deals with the posture stabilization problem of car-like mobile robots. For a long distance, path-planning should be done first. But, over a short distance like a parking maneuver, path planning is difficult since car-like mobile robots, different from the conventional differential drive mobile robo...

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Bibliographic Details
Published inProceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289) Vol. 3; pp. 1745 - 1750 vol.3
Main Authors Sungon Lee, Youngil Youm, Wankyun Chung
Format Conference Proceeding
LanguageEnglish
Published IEEE 1999
Subjects
Control systems
Equations
Kinematics
Manipulators
Mechanical engineering
Mobile robots
Open loop systems
Path planning
State feedback
Turning
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Summary:Deals with the posture stabilization problem of car-like mobile robots. For a long distance, path-planning should be done first. But, over a short distance like a parking maneuver, path planning is difficult since car-like mobile robots, different from the conventional differential drive mobile robot, have a limit on turning radius. The derivation of a control law is also difficult in the sense that there exists no smooth feedback control for this problem. We propose a simple and efficient algorithm for the problem with stability analysis. Using this algorithm, we can control a car-like mobile robot to move to a desired posture within a prescribed boundary. The performance is verified through simulations and experiments using a car-like mobile robot.
ISBN:0780351843
9780780351844
DOI:10.1109/IROS.1999.811730