Skip to Main content Skip to Navigation
Reports

Control of a maneuvering mobile robot by the transverse function approach : control design and simulation results

Abstract : Based on the transverse function approach recently developed by two of the authors for the control of general nonlinear driftless systems, a control strategy for tracking an omnidirectional target with a u­ni­cy­cle-like robot is proposed. An original feature of the approach is the capacity to comply with a target which moves freely in the plane and performs motions which are not feasible by the nonholonomic robot. With respect to a previous publication on the subject, the proposed control solution involves two extensions in order to i) limit the control magnitude and the number of maneuvers when the initial tracking errors are large, and ii) adapt automatically the tracking precision depending on whether or not the target's motion corresponds to a feasible trajectory for the nonholonomic robot. Simulation results illustrate the practical usefulness of these extensions.
Document type :
Reports
Complete list of metadata

Cited literature [10 references]  Display  Hide  Download

https://hal.inria.fr/inria-00077042
Contributor : Rapport de Recherche Inria <>
Submitted on : Monday, May 29, 2006 - 11:58:08 AM
Last modification on : Saturday, January 27, 2018 - 1:30:59 AM
Long-term archiving on: : Monday, April 5, 2010 - 9:33:49 PM

Identifiers

  • HAL Id : inria-00077042, version 1

Collections

Citation

Guillaume Artus, Pascal Morin, Claude Samson. Control of a maneuvering mobile robot by the transverse function approach : control design and simulation results. [Research Report] RR-5155, INRIA. 2004, pp.16. ⟨inria-00077042⟩

Share

Metrics

Record views

187

Files downloads

323