INVESTIGADORES
CAPRARO FUENTES Flavio Andres
congresos y reuniones científicas
Título:
A new tracking control for mobile robots based on virtual vehicle approach
Autor/es:
PATIÑO DANIEL; TOSETTI SANTIAGO; CAPRARO FLAVIO
Lugar:
Bahia Blanca
Reunión:
Jornada; V Jornadas Argentinas de Robótica (JAR 2008); 2008
Institución organizadora:
Universidad Nacional del Sur
Resumen:
This paper presents a new tracking kinematic control law for mobile
robots based on virtual vehicle approach, for which stability conditions
are given using Lyapunov theory. The mobile robot can follow an
arbitrary differentiable trajectory. The proposed scheme is computationally efficient and very simple, important issues in real-time
trajectory control of mobile robots. To show the practical feasibility
and performance of the controller, as well as stability properties
obtained, a simulation study was carried out for an unicycle-like robot.
The results show the practical feasibility and good performance of the
proposed new approach to mobile robots.
