Stabilized Feedback Control of Unicycle Mobile Robots. (3rd April 2013)

• Record Type: Journal Article
• Authors: Amar, Khoukhi; Mohamed, Shahab
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 4(2013)
• Publication Date: 2013-04-03
• Subjects: Unicycle Mobile Robots -- Polar-Based Model -- Posture Constraints -- Kinematic Feedback Control; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/51323
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near-optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.