A motion planning approach to fast parking control of mobile robots

Ti Chung Lee*, Chi Yi Tsai, Kai-Tai Song

*此作品的通信作者

研究成果: Conference article同行評審

4 引文 斯高帕斯(Scopus)

摘要

This paper studies the general parking problem for unicycle-modeled mobile robots by combining the motion planning method with tracking controller design. We add a re-designed virtual trajectory to the original trajectory such that the parking problem can be transformed into a tracking problem. Consequently, a new global tracking controller is proposed to achieve the locally exponential convergence. Further improvement of the tracking performance is achieved using linearization and pole placement method. The proposed controllers are quite simple and can be easily implemented. The effectiveness of the proposed methods is validated by several interesting experiments including the parallel parking and the back-into-garage parking.

原文English
文章編號1241708
頁(從 - 到)905-910
頁數6
期刊Proceedings - IEEE International Conference on Robotics and Automation
1
DOIs
出版狀態Published - 14 9月 2003
事件2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
持續時間: 14 9月 200319 9月 2003

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