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Circular periodic motion generation for mobile robots using limit cycle systems

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3 Author(s)
Hara, N. ; Dept. of Electr. & Inf. Syst., Osaka Prefecture Univ., Sakai, Japan ; Kokame, H. ; Konishi, K.

This paper considers the problem of circular periodic motion generation for nonholonomic mobile robots. By employing a nonlinear system exhibiting limit cycle behavior, we provide a control law that stabilizes a nonholonomic mobile robot to a circular path with the prescribed direction of rotation and speed. Stability of the resulting circular periodic motion of the mobile robot is shown by linear stability analysis of a suitably defined error system. A numerical example is provided to demonstrate the proposed method.

Published in:

American Control Conference (ACC), 2010

Date of Conference:

June 30 2010-July 2 2010