Formation control for car-like mobile robots using front-wheel driving and steering

被引：11
作者：
Chen, Haojie [1 ]
Yang, Hong'an [1 ]
Wang, Xu [1 ]
Zhang, Ting [2 ]
机构：
[1] Northwestern Polytech Univ, Sch Mech Engn, Xian 710072, Shaanxi, Peoples R China
[2] Hytera Commun Corp Ltd, Shenzhen, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2018年 / 15卷 / 03期
关键词：
Formation control; trajectory tracking; car-like robot; front-wheel driving and steering; chained form system; backstepping; TRACKING CONTROL; CHAINED-FORM; SYSTEMS;
D O I：
10.1177/1729881418778228
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
To solve the problem of front wheels being jammed due to the passive trajectory tracking of the conventional car-like robot in the leader-follower formation control, we propose a novel car-like robot with the integration of front-wheel driving and steering. We establish its kinematic model, then analyze its controllability via the method of chained form system, and design the trajectory-tracking controller via the backstepping method. Simulations and experimental results validate our algorithm. This novel car-like robot with the integration of front-wheel driving and steering system not only avoids the jamming in the formation motion, but also owes the advantages of compacter structure, lighter body, and lower energy consumption.
引用
收藏
页数：10
相关论文
共 50 条
  • [1] Formation control for car-like mobile robots based on trajectory tracking
    Wang, Bao-Fang
    Zhang, Rui-Lei
    Li, Sheng
    Chen, Qing-Wei
    Kongzhi yu Juece/Control and Decision, 2015, 30 (01): : 176 - 180
  • [2] Formation control for car-like mobile robots under slip conditions
    Wang B.-F.
    Zhang R.-L.
    Guo J.
    Chen Q.-W.
    1600, Chinese Institute of Electronics (45): : 206 - 212
  • [3] Formation control design for car-like nonholonomic robots using the backstepping approach
    Sadowska, Anna
    Huijberts, Henri
    2013 EUROPEAN CONTROL CONFERENCE (ECC), 2013, : 1274 - 1279
  • [4] Feedback control framework for car-like robots using the unicycle controllers
    Michalek, Maciej
    Kozlowski, Krzysztof
    ROBOTICA, 2012, 30 : 517 - 535
  • [5] Vision-Based Dynamic Control of Car-Like Mobile Robots
    Zhou, Shunbo
    Liu, Zhe
    Suo, Chuanzhe
    Wang, Hesheng
    Zhao, Hongchao
    Liu, Yun-Hui
    2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 6631 - 6636
  • [6] Trajectory Tracking and Control of Car-Like Robots
    Shetty, Suhan
    Ghosal, Ashitava
    MACHINES, MECHANISM AND ROBOTICS, 2019, : 759 - 767
  • [7] Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving
    Zhou, Jie
    Zhao, Can
    Chen, Yunpei
    Shi, Kaibo
    Chen, Eryang
    Luo, Ziqi
    DRONES, 2024, 8 (10)
  • [8] Path planning with steering sets for car-like robots and finding an effective set
    Suzuki, Yumiko
    Kagami, Satoshi
    Kuffner, James J.
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1221 - +
  • [9] Autonomous vehicle trajectory tracking control utilizing front-wheel steering angle compensation
    Mao, Bowen
    Wang, Zhiwen
    Lu, Yanrong
    Li, Long
    Zhang, Jindou
    Miao, Wei
    2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024, 2024, : 268 - 273
  • [10] Adaptive Path Following Control of Car-like Mobile Robot using Dynamic Model
    Chen, Bihua
    Jiao, Zongxia
    2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2011, : 239 - 244
12345