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Circular periodic motion generation for mobile robots using limit cycle systems | IEEE Conference Publication | IEEE Xplore

Circular periodic motion generation for mobile robots using limit cycle systems


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 More

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.
Date of Conference: 30 June 2010 - 02 July 2010
Date Added to IEEE Xplore: 29 July 2010
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Conference Location: Baltimore, MD, USA

References

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