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

Ernesto Fabregas, GONZALO ALBERTO FARIAS CASTRO, Ernesto Aranda-Escolástico, Gonzalo Garcia, Dictino Chaos, Sebastián Dormido-Canto, Sebastián Dormido Bencomo

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

8 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Número de artículo8809888
Páginas (desde-hasta)6679-6687
Número de páginas9
PublicaciónIEEE Transactions on Industrial Electronics
Volumen67
N.º8
DOI
EstadoPublicada - ago 2020
Publicado de forma externa

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