Non-Singular Path-Following, Control of Wheeled Robots with velocity actuator saturations

Lionel Lapierre 1 Giovany Indiveri 2
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper proposes a kinematics path-following algorithm that drives a unicycle-type robot to a desired path, respecting velocity saturation constraint on the actuators. The solution, based on an extension of a globally convergent nonsingular path following solution, is formally shown. Simple conditions for the selection of the gains are provided.
Type de document :
Communication dans un congrès
6th IFAC Symposium on Intelligent Autonomous Vehicles, Sep 2007, Toulouse, France, France. IFAC, pp.6, 2007, 〈http://www.laas.fr/iav2007/papers.html〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00326236
Contributeur : Lionel Lapierre <>
Soumis le : jeudi 2 octobre 2008 - 11:54:12
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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  • HAL Id : lirmm-00326236, version 1

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Lionel Lapierre, Giovany Indiveri. Non-Singular Path-Following, Control of Wheeled Robots with velocity actuator saturations. 6th IFAC Symposium on Intelligent Autonomous Vehicles, Sep 2007, Toulouse, France, France. IFAC, pp.6, 2007, 〈http://www.laas.fr/iav2007/papers.html〉. 〈lirmm-00326236〉

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