Obstacle avoidance control of nonholonomic mobile robots

被引：0

作者：

Niu, Wenbin ^{[1
]}

Wang, Chaoli ^{[1
]}

Li, Qingsong ^{[1
]}

机构：

[1] Shanghai Univ Sci & Technol, Elect Engn Coll, Shanghai 200031, Peoples R China

来源：

DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS | 2007年 / 14卷

关键词：

nonholonomic system; mobile robot; obstacle avoidance;

D O I：

暂无

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

The control theory and its application of nonholonomic control systems have been paid a great attention in recent years. The experiment discussion based on nonholonomic platforms is very necessary for the further development of nonholonomic system control theory. This paper presented the obstacle avoidance algorithm of nonholonomic mobile robots made in the lab. First, the software and hardware of the platform were introduced. Second, its kinematic model is derived. Thirdly, a novel simple avoidance algorithm was proposed. Finally, the implementation of this algorithm based on the platform was made to verify its efficiency. The test data and conclusions were given.

引用

页码：1462 / 1466

页数：5

共 19 条

[1] Stabilization of nonholonomic systems using isospectral flows [J].

Bloch, AM ;

Drakunov, SV ;

Kinyon, MK .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2000, 38 (03) :855-874

[2]

Brockett R.W., 1983, Differential Geometric Control Theory, P181

[3]

CHI RN, 2001, TECHNOLOGY APPL ROBO, V1, P36

[4]

DUAN H, 2006, J APPL SCI, V24, P252

[5] Control of a nonholonomic mobile robot using neural networks [J].

Fierro, R ;

Lewis, FL .

IEEE TRANSACTIONS ON NEURAL NETWORKS, 1998, 9 (04) :589-600

[6] Motion planning in dynamic environments using velocity obstacles [J].

Fiorini, P ;

Shiller, Z .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1998, 17 (07) :760-772

[7]

GULDNER J, 1994, IEEE DECIS CONTR P, P2967, DOI 10.1109/CDC.1994.411340

[8] Saturated stabilization and tracking of a nonholonomic mobile robot [J].

Jiang, ZP ;

Lefeber, E ;

Nijmeijer, H .

SYSTEMS & CONTROL LETTERS, 2001, 42 (05) :327-332

[9] REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS [J].

KHATIB, O .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (01) :90-98

[10] Designing a robust adaptive dynamic controller for nonholonomic mobile robots under modeling uncertainty and disturbances [J].

Kim, MS ;

Shin, JH ;

Hong, SG ;

Lee, JJ .

MECHATRONICS, 2003, 13 (05) :507-519

← 1 2 →