| Volume 26 Issue 9 - Publication Date: 1 September 2007 |
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| Path Manifold-based
Kinematic Control of
Wheeled Mobile Robots
Considering Physical
Constraints |
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| Y. Kim and M. A. Minor Department of Mechanical Engineering University of Utah
Salt Lake City, UT 84112, USA |
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| This paper presents a time invariant kinematic motion controller for
wheeled mobile robots. Actuator capability, mechanical design, and
traction forces governed by terrain features provide velocity and curvature
limitations that are used in the design of the controller. A novel
path manifold that considers curvature limitations is introduced to
provide a desired path shape and convergence to the reference posture
or trajectory. Lyapunov techniques are then used to derive a
control law that asymptotically converges the robot to an arbitrarily
small neighborhood of the path manifold. Posture regulation, path
following, and trajectory tracking capability to a similarly scaled
neighborhood of the target are provided. Controller parameters are
optimized and initial conditions are identified that satisfy physical
constraints of the robot and provide smooth commands. Curvature
boundaries and asymptotic convergence naturally limit allowable initial
conditions and are resolved by driving the robot to intermediate
goal points within regions of allowable initial conditions. Posture regulation
is evaluated in simulation and experiment on a Compliant
Framed wheeled Modular Mobile Robot (CFMMR) for two different
terrain surfaces. Trajectory tracking and path following of constant
curvature references are evaluated in simulation and experiment, respectively. |
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