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.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00326236
Contributor : Lionel Lapierre <>
Submitted on : Thursday, October 2, 2008 - 11:54:12 AM
Last modification on : Friday, June 7, 2019 - 2:00:02 PM

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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. pp.6. ⟨lirmm-00326236⟩

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