Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 26, Issue 4, Pages 1372-1385Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2017.2705059
Keywords
Mobile robot; motion control; nonlinear systems; path following; vector field guidance
Funding
- European Research Council [ERC-StG-307207]
- NWO Domain TTW, The Netherlands [13712]
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In this paper, we propose an algorithm for path-following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot's kinematic model, we design a GVF, whose integral curves converge to the trajectory. A nonlinear motion controller is then proposed, which steers the robot along such an integral curve, bringing it to the desired path. We establish global convergence conditions for our algorithm and demonstrate its applicability and performance by experiments with wheeled robots.
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