A Stable Tracking Control Method for a Non-Holonomic Mobile Robot
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Authors
Kanayama, Yutaka
Kimura, Yoshihiko
Miyazaki, Fumio
Noguchi, Tetsuo
Advisors
Second Readers
Subjects
Date of Issue
1991
Date
November 3-5, 1991
Publisher
Language
Abstract
The major objective of this paper is to propose a stable control rule to find a reasonable target linear and rotational velocities (v, w)'. The stability of the
rule is proved through the use of a Liapunov function. The rule contains three parameters, Kx, Ky and
Ke. Although any set of positive parameters makes
the system stable, a condition on the parameters for
the system being critically damped for a small disturbance
is obtained through linearizing the system's
differential equation. This method was successfully
implemented on the autonomous mobile robot
Yamabico-11. Experimental results obtained tum
out to be close to the results with the
velocity/acceleration limiter.
Type
Conference Paper
Description
Series/Report No
Department
Computer Science (CS)
Organization
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Citation
IEEE/RSJ International Workshop on Intelligence Robots and Systems IROS '91, Nov. 3-5, 1991, Osaka, Japan, IEEE Cat. No. 91TH0375-6
Distribution Statement
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.