Dynamic path following controllers for planar mobile robots

Path Following;Feedback Linearization;Car-Like Robot;Mobile Robot;Unicycle;Differential Flatness;Set Stabilization;Trailer System;Electrical and Computer Engineering

Akhtar, Adeel

University of Waterloo

关键词: Path Following;    Feedback Linearization;    Car-Like Robot;    Mobile Robot;    Unicycle;    Differential Flatness;    Set Stabilization;    Trailer System;    Electrical and Computer Engineering;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/6365/1/Akhtar_Adeel.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

In the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearizationis an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization andaugments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used todesign path following controllers for a large class of paths. While transverse feedback linearization makes the desired path attractive and invariant, dynamic extension allows theclosed-loop system to achieve the desired motion along the path. In particular, dynamic extension can be used to make the mobile robot track a desired velocity or accelerationprofile while moving along a path.