Noise sensitivity of selected kinematic path following controllers for a unicycle

Bulletin of the Polish Academy of Sciences. Technical Sciences

U. LibalInstitute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, 11/17 Janiszewski St., 50-372 Wroclaw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  J. P?askonkaCorresponding authorInstitute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, 11/17 Janiszewski St., 50-372 Wroclaw, PolandEmailOther articles by this author:De Gruyter OnlineGoogle Scholar¹ 

[1] Institute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, 11/17 Janiszewski St., 50-372 Wroclaw, Poland

关键词: Keywords : wheeled mobile robots;    path following;    Serret-Frenet frame;    model-based control;    nonlinear control systems;    nonholonomic constraints;    probabilistic robotics;   

DOI  :  10.2478/bpasts-2014-0001

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.

【 授权许可】

Unknown