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
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