4850

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Доклад

Название: 

Control of a Wheeled Robot Following a Curvilinear Path

Наименование конференции: 

  • 6th EUROMECH Nonlinear Dynamics Conference (ENOC 2008, St. Petersburg)

Наименование источника: 

  • Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC 2008, St. Petersburg)

Город: 

  • Saint Petersburg

Издательство: 

  • The Laboratory "Control of Complex Systems", IPME RAS

Год издания: 

2008

Страницы: 

http://lib.physcon.ru/?item=1616
Аннотация
A control synthesis problem for planar motion of a wheeled robot is considered. The control goal is to bring the robot to a given path and to stabilize motion of a certain target point along it. The trajectory is assumed to be an arbitrary smooth curve with bounded curvature. A simple actuator is introduced into the vehicle model, and the rate of angular rotation of the steering wheels is taken as the control, which is subject to two-sided constraints. In addition, because of phase constraints, the system under consideration is hybrid: at different stages of its motion, it is governed by different systems of differential equations. A control law is synthesized for an arbitrary target path. Qualitative analysis of the straight line case is given. Results of numerical experiments are presented.

Библиографическая ссылка: 

Пестерев А.В., Рапопорт Л.Б., Гилимьянов Р.Ф. Control of a Wheeled Robot Following a Curvilinear Path / Proceedings of the 6th EUROMECH Nonlinear Dynamics Conference (ENOC 2008, St. Petersburg). Saint Petersburg: The Laboratory "Control of Complex Systems", IPME RAS, 2008. С. http://lib.physcon.ru/?item=1616.