A new line tracking method for nonholonomic vehicles
dc.contributor.author | Kanayama, Yutaka J. | |
dc.contributor.author | Fahroo, Fariba | |
dc.date | 20-25 Apr 1997 | |
dc.date.accessioned | 2014-05-16T20:02:29Z | |
dc.date.available | 2014-05-16T20:02:29Z | |
dc.date.issued | 1997 | |
dc.identifier.uri | https://hdl.handle.net/10945/41283 | |
dc.description | The article of record may be found at http://dx.doi.org/10.1109/ROBOT.1997.606728 | en_US |
dc.description | Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on | en_US |
dc.description.abstract | We investigate the problem of finding an algorithm for the movement of a vehicle under the nonholonomic constraint to track a given directed straight line without allowing any spinning motion. We propose a new principle of computing the derivative of path curvature as a linear combination of the current vehicle path curvature, vehicle orientation error, and positional error. We call this function the steering function. By linearization we find an optimal selection of parameters for critically damped motions and obtain a single parameter, σ, for tracking, which we call smoothness. The uniform asymptotic stability of the feedback rule is proved through a Lyapunov function. Numerous simulation results as well as experimental results obtained on the autonomous robot Yamabico at the Naval Postgraduate School are included to show the effectiveness of this method | en_US |
dc.rights | 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. | en_US |
dc.subject.other | Asymptotic stability | en_US |
dc.subject.other | Computer science | en_US |
dc.subject.other | Feedback control | en_US |
dc.subject.other | Mobile robots | en_US |
dc.subject.other | Motion control | en_US |
dc.subject.other | Motion planning | en_US |
dc.subject.other | Remotely operated vehicles | en_US |
dc.subject.other | Spinning | en_US |
dc.subject.other | Target tracking | en_US |
dc.subject.other | Time varying systems | en_US |
dc.title | A new line tracking method for nonholonomic vehicles | en_US |
dc.contributor.department | Computer Science (CS) |