Non-Singular Path-Following, Control of Wheeled Robots with velocity actuator saturations - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2007

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

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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Dates and versions

lirmm-00326236 , version 1 (02-10-2008)

Identifiers

  • HAL Id : lirmm-00326236 , version 1

Cite

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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