Global asymptotic stabilization of mobile robot using smooth guidance law

2002 ◽  
Author(s):  
Ciann-Dong Yang ◽  
Long-Life Shaw ◽  
Jyh-Ching Juang
Keyword(s):  
Mobile Robot ◽  
Asymptotic Stabilization ◽  
Global Asymptotic Stabilization ◽  
Guidance Law

Global Asymptotic Stabilization of Nonlinear Deterministic Systems Using Wiener Processes

2016 ◽  
Vol 61 (8) ◽  
pp. 2318-2323 ◽  
Author(s):  
Kenta Hoshino ◽  
Yuki Nishimura ◽  
Yuh Yamashita ◽  
Daisuke Tsubakino
Keyword(s):  
Asymptotic Stabilization ◽  
Global Asymptotic Stabilization ◽  
Deterministic Systems ◽  
Wiener Processes

scholarly journals Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881263 ◽  
Author(s):  
Paul Quillen ◽  
Kamesh Subbarao
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Control Effort ◽  
Control Approach ◽  
Navigation Function ◽  
Guidance Law ◽  
High Level

This article puts forth a framework using model-based techniques for path planning and guidance for an autonomous mobile robot in a constrained environment. The path plan is synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the “minimum control effort.” Then, an improved nonlinear model predictive control approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the planned path leading to the goal. A backstepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Finally, the performance of the resulting framework using both nonlinear guidance techniques is verified in simulation where the environment is constrained by the presence of static obstacles.

Sign in / Sign up

Export Citation Format

Share Document