Non-Singular Path-Following, Control of Wheeled Robots with velocity actuator saturations

Lionel Lapierre; Giovany Indiveri

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Non-Singular Path-Following, Control of Wheeled Robots with velocity actuator saturations

Lionel Lapierre et Giovany Indiveri

6th IFAC Symposium on Intelligent Autonomous Vehicles (Toulouse, France, France, 05/09/2007–07/09/2007)

05/09/2007

Résumé

This paper proposes a kinematics path-following algorithm that drives a unicycle-type robot to a desired path, respecting velocity saturation constraint on the actuators. The solution, based on an extension of a globally convergent nonsingular path following solution, is formally shown. Simple conditions for the selection of the gains are provided.

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Titre: Non-Singular Path-Following, Control of Wheeled Robots with velocity actuator saturations
Créateurs - sans rôle: Lionel Lapierre - Robotique mobile pour l'exploration de l'environnement
Giovany Indiveri - Departement de l'ingénérie de l'innovation
Colloque: 6th IFAC Symposium on Intelligent Autonomous Vehicles (Toulouse, France, France, 05/09/2007–07/09/2007)
Identifiants: 9946935109311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: lirmm-00326236