{"title":"Trajectory controller design of mobile robot based on back-stepping procedure","authors":"K. Jaewon, L. Kicheol, P. Mignon","doi":"10.1109/IDC.2002.995431","DOIUrl":null,"url":null,"abstract":"The constructive modeling procedure of a nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in the differential geometry field, and their geometrical properties are also analyzed. A new trajectory controller is suggested to guarantee its convergence to a reference trajectory. The design procedure of the suggested trajectory controller is the back-stepping scheme. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to a differentially driven mobile robot system on the assumption that the trajectory planner is given.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Final Program and Abstracts on Information, Decision and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IDC.2002.995431","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The constructive modeling procedure of a nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in the differential geometry field, and their geometrical properties are also analyzed. A new trajectory controller is suggested to guarantee its convergence to a reference trajectory. The design procedure of the suggested trajectory controller is the back-stepping scheme. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to a differentially driven mobile robot system on the assumption that the trajectory planner is given.
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