Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Adeel Akhtar; Christopher Nielsen; Steven L. Waslander

doi:10.1109/TRO.2015.2395711

Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Adeel Akhtar, Christopher Nielsen, Steven L. Waslander

Research output: Contribution to journal › Article › peer-review

54 Scopus citations

Abstract

This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.

Original language	English (US)
Pages (from-to)	269-279
Number of pages	11
Journal	IEEE Transactions on Robotics
Volume	31
Issue number	2
DOIs	https://doi.org/10.1109/TRO.2015.2395711
State	Published - Apr 1 2015
Externally published	Yes

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TRO.2015.2395711

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AB - This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.

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Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Abstract

ASJC Scopus subject areas

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