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Path planning and control of a mobile base with nonholonomic constraints*

Published online by Cambridge University Press:  09 March 2009

S. Jagannathan ,
S. Q. Zhu  and
F. L. Lewis
S. Jagannathan
Affiliation:
Automation and Robotics Research Institute, The University of Texas at Arlington 7300 Jack Newell Blvd. South, Fort Worth, TX 76118(USA)
S. Q. Zhu
Affiliation:
Automation and Robotics Research Institute, The University of Texas at Arlington 7300 Jack Newell Blvd. South, Fort Worth, TX 76118(USA)
F. L. Lewis
Affiliation:
Automation and Robotics Research Institute, The University of Texas at Arlington 7300 Jack Newell Blvd. South, Fort Worth, TX 76118(USA)
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Summary

Motion Planning and control of mobile vehicles with nonholonomic constraints are in their infancy. A systematic approach for modeling and base; motion control of a mobile vehicle is presented. A nonlinear coordinate transformation that takes into account the complete dynamics with nonholonomic constraints is used in order to obtain a linear system in space coordinates. An input-output feedback linearization inner loop is subsequently designed to transform this system into a linear-point mass system in the coordinates corresponding to the control objectives. A rigorous yet simple approach to motion planning through optimization techniques is presented for these mobile vehicles. The resulting Cartesian trajectory generated from the motion planning algorithm is employed as the reference trajectory in the outer loop, which is designed based on a Lyapunov function candidate. The net result is a base motion controller that gives capabilities to these mobile vehicles not only for tracking a Cartesian trajectory but also to achieve a desired final orientation (docking angle).

Keywords

Path planningMobile vehiclesNonholonomic constraintsCartesian trajectoryBase motion controller

Information

Type
Articles
Information
Robotica , Volume 12 , Issue 6 , November 1994 , pp. 529 - 539
Copyright
Copyright © Cambridge University Press 1994

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