A higher level path tracking controller for a four-wheel differentially steered mobile robot

Robotics and Autonomous Systems

Volumn 54, Issue 1, 2006, Pages 23-33

  Maalouf, Elie ^a   Saad, Maarouf ^a   Saliah, Hamadou ^b,c  

^a ÉCOLE DE TECHNOLOGIE SUPÉRIEURE   (Canada)

^b UNIVERSITÉ DU QUÉBEC À MONTRÉAL   (Canada)

^c Tel e University of Quebec   (Canada)

Author keywords

Fuzzy control; Fuzzy control language; Fuzzy logic; Look ahead curvature; Path tracking

Indexed keywords

FUZZY CONTROL LANGUAGE; LOOK-AHEAD CURVATURE; PATH TRACKING; TRACKING CONTROLLER;

CONTROLLABILITY; FUZZY CONTROL; FUZZY SETS; INTERPOLATION; MOTION PLANNING; OPTIMIZATION; STEERING;

MOBILE ROBOTS;

EID: 29344456961     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2005.10.001     Document Type: Article

References (18)

1. J.R. Zhang, S.J. Xu, A. Rachi, Path tracking control of vehicles based on Lyapunov approach, in: Proceedings of the American Control Conference, vol. 3, Anchorage, AK, USA, 2002, pp. 2132-2137
2. R.M. DeSantis, R. Hurteau, O. Alboui, B. Lesot, Experimental stabilization of tractor and tractor-trailer like vehicles, in: Proceedings of the IEEE International Symposium on Intelligent Control, Vancouver, Canada, 2002, pp. 188-193
3. K.C. Koh, H.S. Cho, Wheel servo control based on feedforward compensation for an autonomous mobile robot, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems'95, in: Human Robot Interaction and Cooperative Robots, vol. 3, Pittsburgh, PA, USA, 1995, pp. 454-459
4. L. Caracciolo, A. de Luca, S. Iannitti, Trajectory tracking control of a four-wheel differentially driven mobile robot, in: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, Detroit, MI, USA, 1999, pp. 2632-2638
5. J.R. Zhang, S.J. Xu, A. Rachid, Sliding mode controller for automatic steering of vehicles, in: The 27th Annual Conference of the IEEE Industrial Electronics Society'01, vol. 3, Denver, CO, USA, 2001, pp. 2149-2153
6. J.R. Zhang, S.J. Xu, A. Rachid, Sliding mode controller for automatic path tracking of vehicles, in: Proceedings of the IEEE American Control Conference, vol. 5, Anchorage, AK, USA, 2002, pp. 3974-3979
7. A. Shaout, M.A. Jarrah, H. Al-Araji, K. Al-Tell, A nonlinear optimal four wheels steering controller, in: Proceedings of the 43rd IEEE Midwest Symposium on Circuits and Systems, vol. 3, Lansing, MI, USA, 2000, pp. 1426-1429
8. S.X. Yang, H. Li, M. Meng, Fuzzy control of a behavior-based mobile robot, in: The 12th IEEE International Conference on Fuzzy Systems'03, vol. 1, 2003, pp. 319-324
9. H. Xu, S.X. Yang, Tracking control of a mobile robot with kinematic and dynamic constraints, in: Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation'01, Alberta, Canada, 2001, pp. 125-130
10. W. Weiguo, C. Huitang, W. Yuejuan, Backstepping design for path tracking of mobile robots, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems'99, vol. 3, Kyongju, Korea, 1999, pp. 1822-1827
11. A. Ollero, G. Heredia, Stability analysis of mobile robot path tracking, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems'95, Pittsburgh, PA, USA, in: Human Robot Interaction and Cooperative Robots, vol. 3, 1995, pp. 461-466
12. K. Yoshizawa, H. Hashimoto, M. Wada, S. Mori, Path tracking control of mobile robots using a quadratic curve, in: Proceedings of the IEEE Intelligent Vehicles Symposium, Tokyo, Japan, 1996, pp. 58-63
13. M. Davidson, V. Bahl, The scalar ε -controller: A spatial path tracking approach for ODV, Ackerman, and differentially-steered autonomous wheeled mobile robots, in: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, Seoul, Korea, 2001, pp. 175-180
14. X. Yang, H. Kezhong, M. Guo, B. Zhang, An intelligent predictive control approach to path tracking problem of autonomous mobile robot, in: 1998 IEEE International Conference on Systems, Man, and Cybernetics, vol. 4, San Diego, CA, USA, 1998, pp. 3301-3306
15. D. Driankov, and A. Saffiotti Mobile robot path tracking and visual target tracking using fuzzy logic Fuzzy Logic Techniques for Autonomous Vehicle Navigation 2001 Physica-Verlag New York
16. International Technical Commission (IEC), Devices, IEC1131 - Programmable Controllers, Fuzzy Control Programming, Part 7 http://www.fuzzytech.com/ binaries/ieccd1.pdf 1997 (last consulted: 20 July 2005)
17. S.S.F. Farinwata, P. Dimitar, and R. Langari Fuzzy Control: Synthesis and Analysis 2000 John Wiley and Sons New York
18. Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noguchi, A stable tracking control method for an autonomous mobile robot, in: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, Cincinnati, OH, USA, pp. 384-389