The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedaback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to maintain its efficacy also in presence of noise or unmodeled robot dynamics. Explicit, sufficient conditions are provided to ensure global boundedness of the tracking error. Experimental results are presented using Lego Mindstorm mobile robots.
Recursive convex replanning for the trajectory tracking of wheeled mobile robots / Argenti, Mauro; Consolini, Luca; Lini, Gabriele; Piazzi, Aurelio. - unico:(2010), pp. 4916-4921. (Intervento presentato al convegno 2010 IEEE International Conference on Robotics and Automation tenutosi a Anchorage, USA nel 3-8 Maggio 2010).
Recursive convex replanning for the trajectory tracking of wheeled mobile robots
ARGENTI, Mauro;CONSOLINI, Luca;LINI, Gabriele;PIAZZI, Aurelio
2010-01-01
Abstract
The article consider the Cartesian trajectory tracking of wheeled mobile robots to be performed by a hybrid control scheme with feedforward inverse control and a state feedaback that is only updated periodically and relies on a recursive convex replanning of the reference trajectory. This approach applied to the standard unicycle model is shown to maintain its efficacy also in presence of noise or unmodeled robot dynamics. Explicit, sufficient conditions are provided to ensure global boundedness of the tracking error. Experimental results are presented using Lego Mindstorm mobile robots.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
