Path Following Control of Rhombic Like Vehicles - Performance Assessment with Dynamic Vehicle Model

Nuno Silva, Alberto Vale, Luca Baglivo

2013

Abstract

This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (drivable and steerable wheels both at front and rear) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration; the fourth is a nonlinear controller built upon a kinematic model of a RLV using Lyapunov functions. All the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. The dynamic modelling of a RLV is lastly introduced. Simulated results present a comparative performance assessment of the controllers while dealing, or not, with vehicle dynamics. The main conclusions of these controllers are summarized, leading to a possible application in the actual vehicles that will operate in the remote handling missions of the International Thermonuclear Experimental Reactor (ITER).

Paper Citation

in Harvard Style

Silva N., Vale A. and Baglivo L. (2013). Path Following Control of Rhombic Like Vehicles - Performance Assessment with Dynamic Vehicle Model . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 48-57. DOI: 10.5220/0004439500480057

in Bibtex Style

@conference{icinco13,
author={Nuno Silva and Alberto Vale and Luca Baglivo},
title={Path Following Control of Rhombic Like Vehicles - Performance Assessment with Dynamic Vehicle Model},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={48-57},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004439500480057},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Path Following Control of Rhombic Like Vehicles - Performance Assessment with Dynamic Vehicle Model
SN - 978-989-8565-71-6
AU - Silva N.
AU - Vale A.
AU - Baglivo L.
PY - 2013
SP - 48
EP - 57
DO - 10.5220/0004439500480057