Abstract:
This paper considers the problem of circular periodic motion generation for nonholonomic mobile robots. By employing a nonlinear system exhibiting limit cycle behavior, w...Show MoreMetadata
Abstract:
This paper considers the problem of circular periodic motion generation for nonholonomic mobile robots. By employing a nonlinear system exhibiting limit cycle behavior, we provide a control law that stabilizes a nonholonomic mobile robot to a circular path with the prescribed direction of rotation and speed. Stability of the resulting circular periodic motion of the mobile robot is shown by linear stability analysis of a suitably defined error system. A numerical example is provided to demonstrate the proposed method.
Published in: Proceedings of the 2010 American Control Conference
Date of Conference: 30 June 2010 - 02 July 2010
Date Added to IEEE Xplore: 29 July 2010
ISBN Information: