Real-time tracking control of a non-holonomic mobile robot
by Anmin Zhu, Simon X. Yang
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 4, No. 2/3/4, 2006

Abstract: A novel tracking controller for real-time navigation of a non-holonomic mobile robot is presented. The proposed tracking controller is based on a backstepping model and a gated dipole model from a biological neural system. It is capable of generating smooth, bounded acceleration control signals to track a reference path. Unlike the conventional backstepping controllers, the proposed model can solve the velocity jump problem caused by a large initial tracking error. Unlike the existing tracking control methods that assume 'perfect velocity tracking', the proposed controller removes the unpractical assumption by considering the constraint of accelerations. In addition, the proposed controller can deal with complicated situations, e.g. the reference linear velocity or angular velocity is not constant. The effectiveness and efficiency of the approach are demonstrated by simulation studies.

Online publication date: Sun, 28-Jan-2007

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