A Path Following Control for Unicycle Robots
|Author||Díaz del Río, Fernando
Jiménez Moreno, Gabriel
Sevillano Ramos, José Luis
Vicente Díaz, Saturnino
Civit Balcells, Antón
|Department||Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores|
|Published in||Journal of Field Robotics, 18 (7), 325-342.|
|Abstract||In this work we present a new path following control for unicycle robots that is
applicable for almost all the possible desired paths and whose analysis is very
straightforward. First we select the path following method ...
In this work we present a new path following control for unicycle robots that is applicable for almost all the possible desired paths and whose analysis is very straightforward. First we select the path following method that consists of two steps: choosing a ‘‘projection’’ that relates the actual posture to the desired path and imposing a ‘‘motion exigency’’ to ensure that the robot advances. A ‘‘projection’’ that considers all the error coordinates is selected and closed equations are obtained for it. The uniqueness projection is carefully analyzed and a necessary and sufficient condition is also presented. This condition shows that a slight bound on the curvature derivative of desired paths must be imposed to preserve uniqueness. It is remarkable that the selected path following is applicable for paths containing zero-radius turns, a problem that has never been resolved as far as we know. In addition, an asymptotically stable control law is found using the closed form equation of the proposed path following and the second Lyapunov method. Finally, we show the behavior of the path following and the control law through several simulated and experimental results, using a computerized wheelchair built at our research facility.
|Cite||Díaz del Río, F., Jiménez Moreno, G., Sevillano Ramos, J.L., Vicente Díaz, S. y Civit Balcells, A. (2001). A Path Following Control for Unicycle Robots. Journal of Field Robotics, 18 (7), 325-342.|