Piecewise-Linear Path Following for a Unicycle using Transverse Feedback Linearization

Rollen S. D’Souza, Christopher Nielsen
{"title":"Piecewise-Linear Path Following for a Unicycle using Transverse Feedback Linearization","authors":"Rollen S. D’Souza, Christopher Nielsen","doi":"10.23919/ACC45564.2020.9147473","DOIUrl":null,"url":null,"abstract":"Path planning and following together constitute a critical part of the decision-making hierarchy in autonomous ground vehicles. One of the simplest instances of this architecture is when the path planner generates waypoints that define a sequence of collision free line segments from a start location to goal destination and when the vehicle’s kinematic model is taken to be Dubin’s vehicle. The low level feedback controller can then be design by treating the path following problem as a set stabilization problem; one such approach is called transverse feedback linearization (TFL). However, for a Dubin’s vehicle with only one input, the direction of traversal along the path is completely determined by the vehicle’s initial condition. In this paper we provide easily certifiable sufficient conditions and a systematic design procedure that guarantees the robot satisfies the initial condition requirements at transitions between line segments of the path. Our analysis relies on geometric properties of the path; as a result we construct a formal connection between the feasible motions generated by the planner and the path following controller’s convergence properties.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC45564.2020.9147473","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2

Abstract

Path planning and following together constitute a critical part of the decision-making hierarchy in autonomous ground vehicles. One of the simplest instances of this architecture is when the path planner generates waypoints that define a sequence of collision free line segments from a start location to goal destination and when the vehicle’s kinematic model is taken to be Dubin’s vehicle. The low level feedback controller can then be design by treating the path following problem as a set stabilization problem; one such approach is called transverse feedback linearization (TFL). However, for a Dubin’s vehicle with only one input, the direction of traversal along the path is completely determined by the vehicle’s initial condition. In this paper we provide easily certifiable sufficient conditions and a systematic design procedure that guarantees the robot satisfies the initial condition requirements at transitions between line segments of the path. Our analysis relies on geometric properties of the path; as a result we construct a formal connection between the feasible motions generated by the planner and the path following controller’s convergence properties.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于横向反馈线性化的单轮车分段线性路径跟踪
路径规划和跟随共同构成了自主地面车辆决策层次的关键部分。这种架构的一个最简单的例子是,当路径规划器生成路径点时,路径点定义了从起点到目标目的地的一系列无碰撞线段,并且当车辆的运动学模型被取为Dubin的车辆时。通过将路径跟踪问题作为集稳定问题来设计低电平反馈控制器;其中一种方法叫做横向反馈线性化(TFL)。然而,对于只有一个输入的杜宾车辆,沿着路径的穿越方向完全由车辆的初始条件决定。在本文中,我们提供了易于证明的充分条件和系统的设计程序,以保证机器人在路径线段之间的过渡满足初始条件要求。我们的分析依赖于路径的几何特性;因此,我们在规划器生成的可行运动与遵循控制器收敛性的路径之间建立了形式化的联系。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Metric Interval Temporal Logic based Reinforcement Learning with Runtime Monitoring and Self-Correction Boundary Control of Coupled Hyperbolic PDEs for Two-dimensional Vibration Suppression of a Deep-sea Construction Vessel Localizing Data Manipulators in Distributed Mode Shape Identification of Power Systems Boundary prescribed–time stabilization of a pair of coupled reaction–diffusion equations An Optimization-Based Iterative Learning Control Design Method for UAV’s Trajectory Tracking
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1