教師資料查詢 | 類別: 期刊論文 | 教師: 蔡奇謚 Chi-yi Tsai (瀏覽個人網頁)

標題:Fast Parking Control of Mobile Robots: A Motion Planning Approach with Experimental Validation
學年93
學期1
出版(發表)日期2004/09/01
作品名稱Fast Parking Control of Mobile Robots: A Motion Planning Approach with Experimental Validation
作品名稱(其他語言)
著者Tsai, Chi-yi; Lee, Ti-chung; Song, Kai-tai
單位淡江大學電機工程學系
出版者
著錄名稱、卷期、頁數IEEE Transactions on Control Systems Technology 12(5), pp.661-676
摘要This paper presents a solution to the general parking problem of nonholonomic mobile robots based on motion planning and tracking controller design. A new global tracking controller is first proposed to achieve global uniformly asymptotic stability and local exponential convergence. The parking problem is then transformed into a tracking one by adding a redesigned virtual trajectory to the original trajectory, thus guaranteeing practical stability with exponential convergence. Further improvement in parking performance is obtained through linearization and pole-placement methods. One feature of our approach is that fast convergence in parking and tracking can be treated at the same time without switching between two controllers. Moreover, a tuning function is used to enhance parking performance. With the proposed framework, various tracking controllers given in the literature can be adopted to handle parking problems. The effectiveness of the proposed methods is verified by several interesting experiments including parallel parking and back-into-garage parking.
關鍵字Locally exponential convergence;mobile robots;motion planning;parking control;pole placement;tracking control
語言英文(美國)
ISSN1063-6536; 1558-0865
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式,電子版,紙本
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