Simulation and Experimental Results of a New Control Strategy for Point Stabilization of Nonholonomic Mobile Robots

Ernesto Fabregas; Gonzalo Farias; Ernesto Aranda-Escolástico; Gonzalo Garcia; Dictino Chaos; Sebastián Dormido-Canto; Sebastián Dormido Bencomo

doi:10.1109/TIE.2019.2935976

Simulation and Experimental Results of a New Control Strategy for Point Stabilization of Nonholonomic Mobile Robots

Ernesto Fabregas, Gonzalo Farias, Ernesto Aranda-Escolástico, Gonzalo Garcia, Dictino Chaos, Sebastián Dormido-Canto, Sebastián Dormido Bencomo

SCHOOL OF ELECTRICAL ENGINEERING

Research output: Contribution to journal › Article › peer-review

26 Scopus citations

Abstract

This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.

Original language	English
Article number	8809888
Pages (from-to)	6679-6687
Number of pages	9
Journal	IEEE Transactions on Industrial Electronics
Volume	67
Issue number	8
DOIs	https://doi.org/10.1109/TIE.2019.2935976
State	Published - Aug 2020

Keywords

Differential wheeled mobile robots
position control

Access to Document

10.1109/TIE.2019.2935976

Cite this

@article{7af348c1c99549cb8f225c8c31b29d66,

title = "Simulation and Experimental Results of a New Control Strategy for Point Stabilization of Nonholonomic Mobile Robots",

abstract = "This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.",

keywords = "Differential wheeled mobile robots, position control",

author = "Ernesto Fabregas and Gonzalo Farias and Ernesto Aranda-Escol{\'a}stico and Gonzalo Garcia and Dictino Chaos and Sebasti{\'a}n Dormido-Canto and Bencomo, {Sebasti{\'a}n Dormido}",

year = "2020",

month = aug,

doi = "10.1109/TIE.2019.2935976",

language = "English",

volume = "67",

pages = "6679--6687",

journal = "IEEE Transactions on Industrial Electronics",

issn = "0278-0046",

publisher = "IEEE Industrial Electronics Society",

number = "8",

}

TY - JOUR

T1 - Simulation and Experimental Results of a New Control Strategy for Point Stabilization of Nonholonomic Mobile Robots

AU - Fabregas, Ernesto

AU - Farias, Gonzalo

AU - Aranda-Escolástico, Ernesto

AU - Garcia, Gonzalo

AU - Chaos, Dictino

AU - Dormido-Canto, Sebastián

AU - Bencomo, Sebastián Dormido

PY - 2020/8

Y1 - 2020/8

N2 - This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.

AB - This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.

KW - Differential wheeled mobile robots

KW - position control

UR - http://www.scopus.com/inward/record.url?scp=85083164320&partnerID=8YFLogxK

U2 - 10.1109/TIE.2019.2935976

DO - 10.1109/TIE.2019.2935976

M3 - Article

AN - SCOPUS:85083164320

SN - 0278-0046

VL - 67

SP - 6679

EP - 6687

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

IS - 8

M1 - 8809888

ER -

Simulation and Experimental Results of a New Control Strategy for Point Stabilization of Nonholonomic Mobile Robots

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this