INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Stable switching contour-following controller for wheeled mobile robots.
Autor/es:
MARCOS TOIBERO; RICARDO CARELLI; BENJAMÍN KUCHEN
Lugar:
Orlando, FL, USA
Reunión:
Conferencia; IEEE International Conference on Robotics and Automation; 2006
Institución organizadora:
IEEE
Resumen:
In this paper a switching controller for mobile robots is presented that allows the contour-following of objects the size of which is at least comparable to that of the robot. The controller uses the information from distance sensors and is based on a wall-following controller described in the paper. The stability of the overall switching system is proved by using a common Lyapunov function. Experimental results in a Pioneer III unicycle-like mobile robot are provided to show the feasibility of the proposed control strategy.
