abstract

• In this paper a solution for the problem of following paths defined by reference points for a car-like mobile robot is addressed. The proposed control law is a linearizing state feedback for the rotational kinematics of the mobile robot. The orientation error is defined in such a way that it remains in the interval greater than or equal minus one hundred eighty degrees and smaller than one hundred eighty degrees in order to avoid the unwinding phenomena. The efficiency of the proposed control strategy is verified through numerical simulations. © 2011 IEEE.

authors

• Briseño-Tepepa B.
• Palacios Hernández Elvia Ruth
• RodríGuez-Cortés H.

publication date

• 2011-01-01

published in

• CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book  Proceedings

keywords

• car-like mobile robot; path following; way points Car-like mobile robots; Control laws; Control strategies; Orientation error; Path following; Reference points; Rotational kinematics; way points; Automation; Control; Control theory; Electrical engineering; Process control; State feedback; Mobile robots

Digital Object Identifier (DOI)

• 10.1109/ICEEE.2011.6106568

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