Path-following control of mobile robots in presence of uncertainties

This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to nonholonomic constraints. This control strategy presents some particularities as being used in discrete mode, and being robust against uncertainties and disturbances such as the ones due to the use of the input-output feedback-linearization method in discrete mode, while it was developed to be used in continuous mode. The performance of the proposed control algorithm is verified via computer simulation, and is compared with other control strategies, such as pole placement controller (PPC) and PPC with a Kalman filter observer (CKF).

[1]  Frank L. Lewis,et al.  Control of a nonholonomic mobile robot: backstepping kinematics into dynamics , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[2]  H. Harry Asada,et al.  Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs , 1999, IEEE Trans. Robotics Autom..

[3]  Jong-Hwan Kim,et al.  Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots , 1999, IEEE Trans. Robotics Autom..

[4]  Keigo Watanabe,et al.  Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot , 2001, Auton. Robots.

[5]  Carlos Canudas de Wit.  TRENDS IN MOBILE ROBOT AND VEHICLE CONTROL , 1998 .

[6]  Norihiko Adachi,et al.  Adaptive tracking control of a nonholonomic mobile robot , 2000, IEEE Trans. Robotics Autom..

[7]  M. Egerstedt,et al.  Control of a car-like robot using a virtual vehicle approach , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[8]  Oussama Khatib,et al.  Real-time adaptive control for haptic manipulation with Active Observers , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[9]  Xiaoping Yun,et al.  Stability analysis of the internal dynamics of a wheeled mobile robot , 1997, J. Field Robotics.

[10]  Philippe Souères,et al.  Robust path-following control with exponential stability for mobile robots , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[11]  Ilya Kolmanovsky,et al.  Developments in nonholonomic control problems , 1995 .

[12]  Ralf Koeppe,et al.  Explicit force control for manipulators with active observers , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[13]  Frank L. Lewis,et al.  Control of a nonholomic mobile robot: Backstepping kinematics into dynamics , 1997 .

[14]  G. Campion,et al.  Controllability and State Feedback Stabilizability of Nonholonomic Mechanical Systems , 1991 .

[15]  Urbano Nunes,et al.  Lie algebra application to mobile robot control: a tutorial , 2003, Robotica.

[16]  T. HAMEL,et al.  Robust control laws for wheeled mobile robots , 1996, Int. J. Syst. Sci..

[17]  R. Cortesao.  Kalman techniques for intelligent control systems : theory and robotics experiments , 2003 .

[18]  Zhong-Ping Jiang,et al.  Combining backstepping and time-varying techniques for a new set of adaptive controllers , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[19]  Tarek Hamel,et al.  Robust path following control for wheeled robots via sliding mode techniques , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[20]  Ralf Koeppe,et al.  Compliant motion control with stochastic active observers , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[21]  Urbano Nunes,et al.  A Wheelchair Steered through Voice Commands and Assisted by a Reactive Fuzzy-Logic Controller , 2002, J. Intell. Robotic Syst..

[22]  Giuseppe Oriolo,et al.  Modelling and Control of Nonholonomic Mechanical Systems , 1995 .

[23]  V. I. Utkin,et al.  Stabilization of non-holonomic mobile robots using Lyapunov functions for navigation and sliding mode control , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[24]  E. Paljug,et al.  Control of multiple arms with rolling constraints , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[25]  Karl Johan Åström,et al.  Computer-Controlled Systems: Theory and Design , 1984 .

[26]  L. Dubins.  On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents , 1957 .