POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT

Frederico C. Vieira, Adelardo A. D. Medeiros, Pablo J. Alsina, Antônio P. Araújo Jr.

Abstract

This paper addresses the dynamic stabilization problem of a two-wheeled differentially driven nonholonomic mobile robot. The proposed strategy is based on changing the robot control variables from x, y and Ɵ to s and Ɵ, where s represents the robot linear displacement. Using this model, the nonholonomic constraints disappear and we show how the linear control theory can be used to design the robot controllers. This control strategy only needs the robot localization (x, y, Ɵ), not requiring any velocity measurement or estimation. The complete derivation of the control strategy and some simulated results are presented.

References

  1. Aicardi, M., Casalino, G., Bicchi, A., and Balestrino, A. (1995). Closed loop steering of unicycle-like vehicles via lyapunov techniques. IEEE Transactions on Robotics and Automation, 2(1).
  2. Brockett, R. W. (1983). Asymptotic stability and feedback stabilization. In Brockett, R. W., Millman, R. S., and Sussmann, H. J., editors, Diferential Geometric Control Theory. Birkhäuser, Boston, USA.
  3. d'Andrea Novel, B., Bastin, G., and Campion, G. (1995). Control of nonholonomic wheeled mobile robots by state feedback linearization. Int. Journal of Robotics Research, 14(6):543-559.
  4. Guerra, P. N., Alsina, P. J., Medeiros, A. A. D., and Araújo Jr., A. P. (2004). Linear modelling and identi cation of a mobile robot with differential drive. In ICINCO - International Conference on Informatics in Control, Automation and Robotics, Setúbal, Portugal.
  5. Lages, W. F. and Hemerly, E. M. (2000). Controle de robo?s móveis utilizando transformac¸ão descontnua e linearizac¸ão adaptativa. In CBA - Congresso Brasileiro de Autom ática, Florianópolis, SC, Brasil.
  6. Lizarralde, F. C. (1998). Stabilization of Af ne Nonlinear Control Systems by a Newton Type Method. PhD thesis, Universidade Federal do Rio de Janeiro, COPPE, Rio de Janeiro, RJ, Brasil.
  7. Luca, A., Oriolo, G., Samson, C., and Laumond, J. P. (1998). Robot Motion Planning and Control, chapter Feedback Control of a Nonholomic Car-like Robot. Lectures Notes in Control and Information Sciences. Springer.
  8. Oliveira, V. M. d. and Lages, W. F. (2001). Controle em malha fechada de robo?s móveis utilizando redes neurais e transformac¸ão descontnua. In SBAI - Simp ósio Brasileiro de Automac¸ ão Inteligente, Canela, RS, Brasil.
  9. Samson, C. (1993). Time-varying feedback stabilization of car-like wheeled mobile robots. Int. Journal of Robotics Research, 12(1).
  10. Stern, R. J. (2002). Brockett's stabilization condition under state constraints. Systems and Control Letters, 47(4).
  11. Tanner, H. G. and Kyriakopoulos, K. J. (2002). Discontinous backstepping for stabilization of nonholomic mobile robots. In ICRA - IEEE International Conference on Robotics and Automation, Washington, DC, USA.
  12. Yamamoto, M. M., Pedrosa, D. P. F., and Medeiros, A. A. D. (2003). Um simulador dina?mico para minirobo?s móveis com modelagem de colises. In SBAI - Simp ósio Brasileiro de Automac¸ ão Inteligente, Bauru, SP, Brazil.
  13. Yang, J. M. and Kim, J. H. (1999). Sliding mode motion control of nonholonomic mobile robots. IEEE Control Systems Magazine.
Download


Paper Citation


in Harvard Style

Vieira F., Medeiros A., Alsina P. and Araújo Jr. A. (2004). POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 256-262. DOI: 10.5220/0001138702560262


in Bibtex Style

@conference{icinco04,
author={Frederico C. Vieira and Adelardo A. D. Medeiros and Pablo J. Alsina and Antônio P. Araújo Jr.},
title={POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={256-262},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001138702560262},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - POSITION AND ORIENTATION CONTROL OF A TWO-WHEELED DIFFERENTIALLY DRIVEN NONHOLONOMIC MOBILE ROBOT
SN - 972-8865-12-0
AU - Vieira F.
AU - Medeiros A.
AU - Alsina P.
AU - Araújo Jr. A.
PY - 2004
SP - 256
EP - 262
DO - 10.5220/0001138702560262