IEEE Transactions on Robotics and Automation · 1993 · 90 citations · 15 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot ControlRoboticsControl Of Dynamical SystemsControl TheoryMobile Robot ControlMotion ControlRobot Motion PlanningTrajectory GenerationFeedbackNonholonomic ConstraintsNonholonomic ControlPath FollowingPath Following ControlRobot Path PlanningShortest PathsTrajectory Planning
A piecewise smooth feedback control law for path following for the kinematic model of a nonholonomic mobile robot is proposed. The resulting motion can consist of stopping and reversing phases. The desired path is supposed to be composed of straight lines and arcs of circles joined at intermediate configurations. The proposed feedback control law yields exponential convergence to configurations representing stopping phases and to the terminal configuration.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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A stable tracking control method for an autonomous mobile robot
Yutaka Kanayama, Yuuki Kimura, F. Miyazaki et al. · 2002 · 1.4K citations
Engineering, Mechanical Engineering, Robotics Engineering +16