A path following controller for wheeled robots which allows to avoid obstacles during transition phase

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1998, Pages 1269-1274

  Soueres, P ^a   Hamel, T ^b   Cadenat, V ^a  

^a CNRS   (France)

^b UNIVERSITÉ D EVRY VAL D ESSONNE   (France)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); MOBILE ROBOTS; ROBOTICS; COLLISION AVOIDANCE; MOTION CONTROL; MOTION PLANNING; TIME VARYING CONTROL SYSTEMS;

DEGREE OF FREEDOM; INITIAL CONFIGURATION; PATH FOLLOWING CONTROLLER; SLIDING MANIFOLDS; SLIDING MODE TECHNIQUES; STABILIZATION PROCESS; STRICTLY CONVEXES; TRANSITION PHASE;

CONTROLLERS; MOBILE ROBOTS;

TIME VARYING SLIDING MANIFOLDS; WHEELED ROBOTS;

EID: 0031621473     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677277     Document Type: Conference Paper

References (6)

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2. T. Hamel, D. Meizel. "Robust control laws for wheeled mobile robots. In International Journal of Systems Science , volume 27, No 8, pages 695-704, 1996.
3. T. Hamel, P. SouBres, D. Meizel, "A Two-Steps Robust Path-following Controller for Wheeled Robots", In Proc. of the ph Symposium on Robot Control, SYROC0 97, Nantes, France, September 1997.
4. W. Oelen and J.V. Amerongen, "Robust tracking control of two degrees of freedom mobile robots, " in Proc. of IFAC International Workshop on Intelligent Autonomous Vehicles, Univ. of Southhampton, United Kindom, pp 295-300, 1993.
5. C. Samson, "Path Following and Time-varing Feedback Stabilization of a Wheeled Mobile Robot". In Proc. of ICARCV92, pp RO-13.1.1-13.1.5, Singapore, Septembre 1993.
6. C. Samson, "Control of Chained Systems. Application to Path Following and Time-Varying Point Stabilization of Mobile Robots, " IEEE Transaction on Automatic Control, Vol 40, No 1, Jan. 1995.