Name
Title | ||
|---|---|---|
Kinematic path-following control of a mobile robot under bounded angular velocity error |
Abstract | ||
|---|---|---|
This paper proposes a robust path-following control method of a kinematic mobile robot system subject to bounded angular velocity error. The angular velocity error usually arises from imperfect performance of the dynamic control system. Given a kinematic model of the mobile robot system with bounded angular velocity error, we present a stable and robust path-following controller which is based on the sliding mode control technique and prove that the path-following errors (the lateral distance and orientation error) are ultimately bounded. In addition, the safety margin of the lateral distance error is defined, which is useful for higher-level path-planning tasks. The feasibility of the proposed controller has been demonstrated through simulation tests. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1163/156855306775275512 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
wheeled mobile robots,path following,non-holonomic constraints,sliding mode control,robust control | Control theory,Angular velocity,Kinematics,Control theory,Control engineering,Control system,Robust control,Mobile robot,Mathematics,Bounded function,Sliding mode control | Journal |
Volume | Issue | ISSN |
20 | 1 | 0169-1864 |
Citations | PageRank | References |
3 | 0.73 | 9 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Keehong Seo | 1 | 75 | 8.42 |
| Jin S. Lee | 2 | 318 | 37.69 |