Formation control for car-like mobile robots using front-wheel driving and steering. (25th May 2018)

• Record Type: Journal Article
• Authors: Chen, Haojie; Yang, Hong'an; Wang, Xu; Zhang, Ting
• Is Part Of: International journal of advanced robotic systems. Volume 15:Number 3(2018:May/Jun.)
• Publication Date: 2018-05-25
• Subjects: Formation control -- trajectory tracking -- car-like robot -- front-wheel driving and steering -- chained form system -- backstepping; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881418778228
• Languages: English
• ISSNs: 1729-8806

Abstract

To solve the problem of front wheels being jammed due to the passive trajectory tracking of the conventional car-like robot in the leader–follower formation control, we propose a novel car-like robot with the integration of front-wheel driving and steering. We establish its kinematic model, then analyze its controllability via the method of chained form system, and design the trajectory-tracking controller via the backstepping method. Simulations and experimental results validate our algorithm. This novel car-like robot with the integration of front-wheel driving and steering system not only avoids the jamming in the formation motion, but also owes the advantages of compacter structure, lighter body, and lower energy consumption.