scholarly journals Restriction of Transverse Feedback Linearization for Piecewise Linear Paths

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Gildeberto de Souza Cardoso ◽  
Leizer Schnitman ◽  
José Valentim dos Santos Filho ◽  
Luiz Carlos Simões Soares Júnior
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Piecewise Linear ◽  
Domain Of Attraction ◽  
Path Following ◽  
Transverse Feedback Linearization

This work presents a path-following controller for a unicycle robot. The main contribution of this paper is to demonstrate the restriction of transverse feedback linearization (TFL) to obtuse angles on piecewise linear paths. This restriction is experimentally demonstrated on a Kobuki mobile robot, where it is possible to observe, as a result of the limitation of the TFL, the convergence to another domain of attraction.

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

2015 ◽  
Vol 31 (2) ◽  
pp. 269-279 ◽  
Author(s):  
Adeel Akhtar ◽  
Christopher Nielsen ◽  
Steven L. Waslander
Keyword(s):  
Feedback Linearization ◽  
Path Following ◽  
Transverse Feedback Linearization

Simultaneous tracking and stabilization of an omnidirectional mobile robot in polar coordinates: a unified control approach

Robotica ◽  
2009 ◽  
Vol 27 (3) ◽  
pp. 447-458 ◽  
Author(s):  
Hsu-Chih Huang ◽  
Ching-Chih Tsai
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Control Method ◽  
Kinematic Model ◽  
Path Following ◽  
Polar Space ◽  
Polar Coordinates ◽  
Control Approach ◽  
Omnidirectional Mobile Robot ◽  
Omnidirectional Wheels

SUMMARYThis paper presents a polar-space kinematics control method to achieve simultaneous tracking and stabilization for an omnidirectional wheeled mobile robot with three independent driving omnidirectional wheels equally spaced at 120° from one another. The kinematic model of the robot in polar coordinates is presented. With the kinematic model, a kinematic control method based on feedback linearization is proposed in order to achieve simultaneous tracking and stabilization. The proposed method is easily extended to address the path following problem. Computer simulations and experimental results are presented to show the effectiveness and usefulness of the proposed control method at slow speeds.

Sign in / Sign up

Export Citation Format

Share Document