A look-ahead approach to mobile robot path tracking based on distance-only measurements

In this paper, a path tracking controller based on distance-only measurements for nonholonomic mobile robots is presented. First, a kinematic model of the robot appropriate for path tracking applications is derived. Using a look-ahead approach, a time-varying feedback controller is proposed. The sta...

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Bibliographic Details
Main Authors: Petrov, Plamen, Kralov, Ivan
Format: Conference Proceeding
Language:English
Subjects:
Computer simulation
Control systems
Feedback control
Mathematical models
Path tracking
Robots
Tracking control
Online Access:Get full text
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Summary:In this paper, a path tracking controller based on distance-only measurements for nonholonomic mobile robots is presented. First, a kinematic model of the robot appropriate for path tracking applications is derived. Using a look-ahead approach, a time-varying feedback controller is proposed. The stabilities properties of the closed-loop system are analyzed in case of circular and straight-line path tracking using the theory of Lyapunov, and asymptotic stability is proved. In particular, for straight-line tracking, the steady-state error is shown to be equal to zero. Numerical simulations and experiments are carried in order to validate the proposed feedback path tracking control.
ISSN:0094-243X
1551-7616
DOI:10.1063/1.5133608