Stabilized Feedback Control of Unicycle Mobile Robots | Zendy

Amar Khoukhi | Zendy; Shahab Mohamed | Zendy

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Stabilized Feedback Control of Unicycle Mobile Robots

Author(s) -

Amar Khoukhi,

Shahab Mohamed

Publication year - 2013

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/51323

Subject(s) - computer science , kinematics , robot , mobile robot , holonomic , control theory (sociology) , holonomic constraints , scheme (mathematics) , control (management) , class (philosophy) , trajectory , simulation , artificial intelligence , mathematics , mathematical analysis , physics , classical mechanics , astronomy

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

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