Decentralized kinematic motion control for multiple axle compliant framed modular wheeled mobile robots

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 392-397

  Kim, Youngshik ^a   Minor, Mark A ^a  

^a University of Utah   (United States)

Author keywords

Bounded control inputs; Compliance; Kinematic motion control; Multiple axle mobile robot

Indexed keywords

COMPUTER SIMULATION; KINEMATICS; MOTION CONTROL; MOTION PLANNING; TRACKING (POSITION);

BOUNDED CONTROL INPUTS; KINEMATIC MOTION CONTROL; MULTIPLE-AXLE MOBILE ROBOT;

MOBILE ROBOTS;

EID: 34250634974     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.281838     Document Type: Conference Paper

References (22)

1. Y. Kim and M. A. Minor, "Path manifold based kinematic control of wheeled mobile robot considering physical constraints," submitted to IEEE Trans. Robotics, 2006, www.mech.utah.edu/~youngshi/pdf/ Submitted_IeeeTRO.pdf.
2. B. W. Albiston and M. A. Minor, "Curvature based point stabilization for compliant framed wheeled modular mobile robots," In Proc. IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, pp. 83-89, 2003.
3. M. A. Minor, Albiston, B.W., Swensen, C.L., "Simplified Motion Control of a Two Axle Compliant Framed Wheeled Mobile Robot," IEEE Trans. Robotics, vol. 22, pp. 491-506, 2006.
4. C. Samson, "Time-varying feedback stabilization of car-like wheeled mobile robots," Int. Journal of Robotics Research, vol. 12, pp. 55-64, 1993.
5. C. Samson, "Control of chained systems application to path following and time-varying point-stabilization of mobile robots," IEEE Trans. Automatic Control, vol. 40, pp. 64-77, 1995.
6. A. Tayebi, M. Tadjine, and A. Rachid, "Path-following and point-stabilization control laws for a wheeled mobile robot," in Proc. UKACC Int. Conf. Control, Exeter, UK, pp. 878-883, 1996.
7. J. M. Coron and B. d'Andrea-Novel, "Smooth stabilizing time-varying control laws for a class of nonlinear systems. Application to mobile robots," in Nonlinear Control Systems Design 1992. Selected Papers from the 2nd IFAC Symposium, Oxford, UK, pp. 413-18, 1993.
8. R. W. Brocken, "Asymptotic stability and feedback stabilization," In R. W. Brockett, R. S. Millman, and H. J. Sussmann, editors, Differential Geometric Control Theory, volume 27 of Progress in Mathematics, Birkhauser, Boston, pp. 181-191, 1983.
9. E. Badreddin and M. Mansour, "Fuzzy-tuned state-feedback control of a non-holonomic mobile robot," in Proc. the 12th Triennial World Congress of IFAC, Sydney, Australia, pp. 769-72, 1993.
10. A. Astolfi, "On the stabilization of nonholonomic systems," in Proc. IEEE Conf. Decision and Control, New York, NY, USA, pp. 3481-6 vol.4, 1994.
11. A. Astolfi, "Exponential stabilization of a wheeled mobile robot via discontinuous control," Trans. the ASME. Journal of Dynamic Systems, Measurement and Control, vol. 121, pp. 121-7, 1999.
12. M. Aicardi, G. Casalino, A. Bicchi, and A. Balestrino, "Closed loop steering of unicycle like vehicles via Lyapunov techniques," IEEE Robotics & Automation Magazine, vol. 2, pp. 27-35, 1995.
13. G. Indiveri, "Kinematic time-invariant control of a 2D nonholonomic vehicle," in Proceedings of 1999 Conference on Decision and Control, Piscataway, NJ, USA, pp. 2112-17 vol.3, 1999.
14. M. Aicardi, G. Cannata, G. Casalino, and G. Indiveri, "On the stabilization of the unicycle model proejcting a holonomic solution," In 8th Int. Symposium on Robotics with Application ISORA 2000, World Automation Congress WAC 2000, Maui, Hawaii, USA, 2000.
15. G. Indiveri, "On the motion control of a nonholonomic soccer playing robot," In RoboCup 2001: Robot Soccer. World Cup V, 2-10 Aug. 2001, Seattle, WA, USA, pp. 387-92, 2002.
16. A. Tayebi and A. Rachid, "A unified discontinuous state feedback controller for the path-following and the point-stabilization problems of a unicycle-like mobile robot," In Proc. Int Conf. Control Applications, New York, NY, USA, pp. 31-35, 1997.
17. Y. Nakamura, H. Ezaki, Y. Tan, and W. Chung, "Design of steering mechanism and control of nonholonomic trailer systems," IEEE Trans. Robotics and Automation, vol. 17, pp. 367-374, 2001.
18. M. Hashimoto, F. Oba, and S. Zenitani, "Coordinative object-transportation by multiple industrial mobile robots using coupler with mechanical compliance," in Proc. Int. Conf. Industrial Electronics, Control and Instrumentation, Maui, HI, USA, pp. 1577-1582 vol.3, 1993.
19. Y. Hirata, Y. Kume, T. Sawada, Z.-D. Wang, and K. Kosuge, "Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics," in Proc. IEEE Int. Conf. Robotics and Automation, New Orleans, LA, USA, pp. 807-812 Vol.1, 2004.
20. J. Urruzola, J. T. Celigueta, and J. G. de Jalon, "Generalization of foreshortening through new reduced geometrically nonlinear structural formulation," Journal of Guidance, Control, and Dynamics, vol. 23, pp. 673-682, 2000.
21. A. Bacciotti, Local stahilizahility of nonlinear control systems, vol. 8: World Scientific, 1991.
22. H. K. Khalil, Nonlinear systems, 3rd ed. Upper Saddle River, NJ: Prentice Hall, 2002.