Tracking control of mobile robots and its application to formation control

In this paper, we investigate stability of a nonlinear tracking control for a mobile robot in connection with the method of artificial potential trench. We first refine the concept of potential trench function and propose several approaches to construct potential trench functions. Then we synthesize...

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Bibliographic Details
Main Authors: Chen, P., Jie Wan, Poo, A.N., Ge, S.S.
Format: Conference Proceeding
Language:English
Subjects:
Application software
Computer simulation
Mechanical engineering
Mobile robots
Path planning
Robot control
Robot kinematics
Solids
Stability
Wheels
Online Access:Request full text
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Summary:In this paper, we investigate stability of a nonlinear tracking control for a mobile robot in connection with the method of artificial potential trench. We first refine the concept of potential trench function and propose several approaches to construct potential trench functions. Then we synthesize a control law that stabilizes a robot while tracking a goal point moving on a given segment (smooth curve) and extend it to a simple case of formation control. Results from computer simulation verify and demonstrate the effectiveness of this novel control.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2008.4811777