Motion control of nonholonomic robots at low speed. (20th February 2020)

• Record Type: Journal Article
• Authors: Miková, Ľubica; Gmiterko, Alexander; Kelemen, Michal; Virgala, Ivan; Prada, Erik; Hroncová, Darina; Varga, Martin
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 1(2020:Jan./Feb.)
• Publication Date: 2020-02-20
• Subjects: Nonholonomic robot -- algorithm -- simulation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420902554
• Languages: English
• ISSNs: 1729-8806

Abstract

Many applications in robotics require precise tracking of the prescribed path. The aim of this article is to develop and verify by computer simulation a control design method which ensures that the "output" of the robot will move along a prescribed path. A virtual vehicle approach algorithm was used to track a predefined vehicle path. The idea behind this algorithm is that the movement of a virtual vehicle on a predefined path is controlled by a differential equation whose input is a control deviation representing the distance between a real and a virtual vehicle. The main advantage of the path-following approach is that, based on this approach, the feedback realized is invariant to the path.