Work

A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots

Year: 2017

Type: article

Abstract: In this paper, we propose an algorithm for path-following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot's kinematic model, we design a GVF, whose integral curves converge to the trajectory. A nonlinear motion controller is then proposed, which steers the robot along such an integral curve, bringing it to the desired path. We establish global convergence conditions for our algorithm and demonstrate its applicability and performance by experiments with wheeled robots.

Source: IEEE Transactions on Control Systems Technology

DOI: 10.1109/tcst.2017.2705059

Authors: Yuri A. Kapitanyuk, Anton V. Proskurnikov, Ming Cao

Institutions: University of Groningen, Institute of Problems of Mechanical Engineering

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: Nederlandse Organisatie voor Wetenschappelijk Onderzoek, FP7 Ideas: European Research Council

Award: Control of Spatially Distributed Complex Multi-Agent Networks