By Topic

A strategy of path following control for wheeled mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jing Yuan ; Coll. of Inf. Technol. & Sci., Nankai Univ., Tianjin, China ; Yalou Huang ; Qiang Han

The path following control for a kind of nonholonomic single body wheeled mobile robot (WMR) and the trailer system consisting of a tractor and two trailers was investigated. Based on kinematics and error model, a control strategy using Lyapunov method was proposed for two-wheeled mobile robot and extended to the case of tractor-trailer robot. For the trailer system, we controlled the first trailer instead of the tractor and the last trailer to follow a reference path in order to lessen the width of the road covered by the robot. The experiment results show the convergence speed is rapid and the algorithm is simple and efficient. Finally, a set of simulations was presented to compare three control laws, which were performed on the tractor and the different trailers respectively.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004