NDLI: Trajectory Tracking Strategies with Singularities Avoidance for Groups of Unicycle-type Robots ⋆

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Trajectory Tracking Strategies with Singularities Avoidance for Groups of Unicycle-type Robots ⋆

Content Provider	Semantic Scholar
Author	González-Sierra, Jaime Aranda-Bricaire, Eduardo
Copyright Year	2011
Abstract	This paper presents the design and analysis of three trajectory tracking control strategies for groups of unicycle-type robots using the leader-followers scheme. The leader converges asymptotically to a predefined trajectory path while the follower robots achieve a desired formation pattern at same time. The control laws are based on a dynamical extension of the kinematic model of unicycles considering the midpoint of the wheels axis of the robots as output function. When the linear velocity of unicycles is close to zero, a complementary control law is enabled momentarily to avoid singularities. It is demonstrated that in the switched closed-loop system, the orientation angles converge to the same value. Finally, some numerical simulations and real-time experiments show the performance of the control strategies.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://folk.ntnu.no/skoge/prost/proceedings/ifac11-proceedings/data/html/papers/1703.pdf
Alternate Webpage(s)	http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac11-proceedings/data/html/papers/1703.pdf
Language	English
Access Restriction	Open
Subject Keyword	Apache Axis Arabic numeral 0 Axis vertebra Computer simulation Converge Experiment Numerical analysis Optic axis of a crystal Optimal control Real-time clock Robot (device) Trajectory optimization Velocity (software development) Wheels
Content Type	Text
Resource Type	Article

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