Authors:
Nuno Silva
;
Alberto Vale
and
Luca Baglivo
Affiliation:
Instituto Superior Técnico and Universidade Técnica de Lisboa, Portugal
Keyword(s):
Rhombic Like Vehicles, Path Following, Dynamic Vehicle Modelling.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics
(drivable and steerable wheels both at front and rear) operating in cluttered environments. Four path following
controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path:
three are based on feedback laws derived at a kinematic level with geometrical inspiration; the fourth is a
nonlinear controller built upon a kinematic model of a RLV using Lyapunov functions. All the developed
controllers are capable of performing under two situations: when both wheels follow the same path, or when
each wheel follows a different path. The dynamic modelling of a RLV is lastly introduced. Simulated results
present a comparative performance assessment of the controllers while dealing, or not, with vehicle dynamics.
The main conclusions of these controllers are summarized, leading to a possible application in the actual
vehicles that will operate in th
e remote handling missions of the International Thermonuclear Experimental
Reactor (ITER).
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